Merge pull request #572 from chambbj/morphological-tools

Add: morphological tool to apply dilate / erode / open / close on the z dimension

tools/CMakeLists.txt

@@ -138,6 +138,8 @@ if (build)
   PCL_ADD_EXECUTABLE(pcl_compute_hausdorff "${SUBSYS_NAME}" compute_hausdorff.cpp)
   target_link_libraries(pcl_compute_hausdorff pcl_common pcl_io pcl_search)
 
+  PCL_ADD_EXECUTABLE(pcl_morph "${SUBSYS_NAME}" morph.cpp)
+  target_link_libraries(pcl_morph pcl_common pcl_io pcl_filters)
 
   if(BUILD_OPENNI AND OPENNI_FOUND)
     PCL_ADD_EXECUTABLE(pcl_oni2pcd "${SUBSYS_NAME}" oni2pcd.cpp)

tools/morph.cpp

@@ -0,0 +1,247 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2009-2012, Willow Garage, Inc.
+ *  Copyright (c) 2012-, Open Perception, Inc.
+ *  Copyright (c) 2014, RadiantBlue Technologies, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/filters/morphological_filter.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+typedef const Cloud::ConstPtr ConstCloudPtr;
+
+std::string default_method = "open";
+float default_resolution = 1.0f;
+
+void
+printHelp (int, char **argv)
+{
+  print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
+  print_info ("  where options are:\n");
+  print_info ("                     -resolution X = cell size (default: ");
+  print_value ("%f", default_resolution); print_info (")\n");
+  print_info ("                     -method X = the morphological operator to be used (options: dilate / erode / open / close) (default: ");
+  print_value ("%s", default_method.c_str ()); print_info (")\n");
+  print_info ("                     -input_dir X  = batch process all PCD files found in input_dir\n");
+  print_info ("                     -output_dir X = save the processed files from input_dir in this directory\n");
+}
+
+bool
+loadCloud (const std::string &filename, Cloud &cloud)
+{
+  TicToc tt;
+  print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
+
+  tt.tic ();
+  if (loadPCDFile (filename, cloud) < 0)
+    return (false);
+  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
+  print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
+
+  return (true);
+}
+
+void
+compute (ConstCloudPtr &input, Cloud &output, float resolution, std::string method)
+{
+  // Estimate
+  TicToc tt;
+  tt.tic ();
+
+  print_highlight (stderr, "Computing ");
+
+  if (method == "dilate")
+  {
+    applyMorphologicalOperator<PointType> (input, resolution, MORPH_DILATE, output);
+  }
+  else if (method == "erode")
+  {
+    applyMorphologicalOperator<PointType> (input, resolution, MORPH_ERODE, output);
+  }
+  else if (method == "open")
+  {
+    applyMorphologicalOperator<PointType> (input, resolution, MORPH_OPEN, output);
+  }
+  else if (method == "close")
+  {
+    applyMorphologicalOperator<PointType> (input, resolution, MORPH_CLOSE, output);
+  }
+  else
+  {
+    PCL_ERROR ("%s is not a valid morphological operator! Quitting!\n", method.c_str ());
+    return;
+  }
+
+  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+void
+saveCloud (const std::string &filename, const Cloud &output)
+{
+  TicToc tt;
+  tt.tic ();
+
+  print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
+
+  PCDWriter w;
+  w.writeBinaryCompressed (filename, output);
+
+  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+int
+batchProcess (const vector<string> &pcd_files, string &output_dir,
+              float resolution, std::string method)
+{
+  vector<string> st;
+  for (size_t i = 0; i < pcd_files.size (); ++i)
+  {
+    // Load the first file
+    Cloud::Ptr cloud (new Cloud);
+    if (!loadCloud (pcd_files[i], *cloud))
+      return (-1);
+
+    // Perform the feature estimation
+    Cloud output;
+    compute (cloud, output, resolution, method);
+
+    // Prepare output file name
+    string filename = pcd_files[i];
+    boost::trim (filename);
+    boost::split (st, filename, boost::is_any_of ("/\\"), boost::token_compress_on);
+
+    // Save into the second file
+    stringstream ss;
+    ss << output_dir << "/" << st.at (st.size () - 1);
+    saveCloud (ss.str (), output);
+  }
+  return (0);
+}
+
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+  print_info ("Filter a point cloud using the pcl::morphologicalOpen. For more information, use: %s -h\n", argv[0]);
+
+  if (argc < 3)
+  {
+    printHelp (argc, argv);
+    return (-1);
+  }
+
+  bool batch_mode = false;
+
+  // Command line parsing
+  std::string method = default_method;
+  float resolution = default_resolution;
+  parse_argument (argc, argv, "-method", method);
+  parse_argument (argc, argv, "-resolution", resolution);
+  string input_dir, output_dir;
+  if (parse_argument (argc, argv, "-input_dir", input_dir) != -1)
+  {
+    PCL_INFO ("Input directory given as %s. Batch process mode on.\n", input_dir.c_str ());
+    if (parse_argument (argc, argv, "-output_dir", output_dir) == -1)
+    {
+      PCL_ERROR ("Need an output directory! Please use -output_dir to continue.\n");
+      return (-1);
+    }
+
+    // Both input dir and output dir given, switch into batch processing mode
+    batch_mode = true;
+  }
+
+  if (!batch_mode)
+  {
+    // Parse the command line arguments for .pcd files
+    std::vector<int> p_file_indices;
+    p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+    if (p_file_indices.size () != 2)
+    {
+      print_error ("Need one input PCD file and one output PCD file to continue.\n");
+      return (-1);
+    }
+
+    // Load the first file
+    Cloud::Ptr cloud (new Cloud);
+    if (!loadCloud (argv[p_file_indices[0]], *cloud))
+      return (-1);
+
+    // Perform the feature estimation
+    Cloud output;
+    compute (cloud, output, resolution, method);
+
+    // Save into the second file
+    saveCloud (argv[p_file_indices[1]], output);
+  }
+  else
+  {
+    if (input_dir != "" && boost::filesystem::exists (input_dir))
+    {
+      vector<string> pcd_files;
+      boost::filesystem::directory_iterator end_itr;
+      for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr)
+      {
+        // Only add PCD files
+        if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (boost::filesystem::extension (itr->path ())) == ".PCD" )
+        {
+          pcd_files.push_back (itr->path ().string ());
+          PCL_INFO ("[Batch processing mode] Added %s for processing.\n", itr->path ().string ().c_str ());
+        }
+      }
+      batchProcess (pcd_files, output_dir, resolution, method);
+    }
+    else
+    {
+      PCL_ERROR ("Batch processing mode enabled, but invalid input directory (%s) given!\n", input_dir.c_str ());
+      return (-1);
+    }
+  }
+}
+