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Merge pull request #318 from nizar-sallem/kp_indices
keypoints indices feature
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/* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Point Cloud Library (PCL) - www.pointclouds.org | ||
* Copyright (c) 2013-, Open Perception, 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 Willow Garage, Inc. 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. | ||
* | ||
*/ | ||
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#include <iostream> | ||
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#include <pcl/console/parse.h> | ||
#include <pcl/console/print.h> | ||
#include <pcl/point_types.h> | ||
#include <pcl/point_cloud.h> | ||
#include <pcl/io/pcd_io.h> | ||
#include <pcl/keypoints/harris_3d.h> | ||
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int | ||
main(int argc, char** argv) | ||
{ | ||
if (argc < 2) | ||
{ | ||
pcl::console::print_info ("Keypoints indices example application.\n"); | ||
pcl::console::print_info ("Syntax is: %s <source-pcd-file>\n", argv[0]); | ||
return (1); | ||
} | ||
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pcl::console::print_info ("Reading %s\n", argv[1]); | ||
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>); | ||
if(pcl::io::loadPCDFile<pcl::PointXYZRGB> (argv[1], *cloud) == -1) // load the file | ||
{ | ||
pcl::console::print_error ("Couldn't read file %s!\n", argv[1]); | ||
return (-1); | ||
} | ||
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pcl::HarrisKeypoint3D <pcl::PointXYZRGB, pcl::PointXYZI> detector; | ||
pcl::PointCloud<pcl::PointXYZI>::Ptr keypoints (new pcl::PointCloud<pcl::PointXYZI>); | ||
detector.setNonMaxSupression (true); | ||
detector.setInputCloud (cloud); | ||
detector.setThreshold (1e-6); | ||
pcl::StopWatch watch; | ||
detector.compute (*keypoints); | ||
pcl::console::print_highlight ("Detected %zd points in %dms\n", keypoints->size (), watch.getTimeSeconds ()); | ||
pcl::PointIndicesConstPtr keypoints_indices = detector.getKeypointsIndices (); | ||
if (!keypoints_indices->indices.empty ()) | ||
{ | ||
pcl::io::savePCDFile ("keypoints.pcd", *cloud, keypoints_indices->indices, true); | ||
pcl::console::print_info ("Saved keypoints to keypoints.pcd\n"); | ||
} | ||
else | ||
pcl::console::print_warn ("Keypoints indices are empty!\n"); | ||
} |
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