Add: example for getKeypointsIndices method

examples/keypoints/CMakeLists.txt

@@ -19,4 +19,7 @@ if(BUILD_visualization)
   PCL_ADD_EXAMPLE(pcl_example_sift_z_keypoint_estimation FILES example_sift_z_keypoint_estimation.cpp
 		                LINK_WITH pcl_common  pcl_visualization pcl_keypoints pcl_io)
 
+  PCL_ADD_EXAMPLE(pcl_example_get_keypoints_indices FILES example_get_keypoints_indices.cpp
+                  LINK_WITH pcl_common pcl_keypoints pcl_io)
+
 endif(BUILD_visualization)

examples/keypoints/example_get_keypoints_indices.cpp

@@ -0,0 +1,82 @@
+/*
+ * 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.
+ *
+ */
+
+#include <iostream>
+
+#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>
+
+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);
+  }
+
+  pcl::console::print_info ("Reading %s\n", argv[1]);
+
+  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);
+  }
+
+  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");
+}