标签:info file VFH tt argv 估计 PCL print output
代码如下:
#include <pcl/PCLPointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/vfh.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.pcd\n", argv[0]);
}
bool
loadCloud (const std::string &filename, PointCloud<PointNormal> &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile<PointNormal> (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", getFieldsList (cloud).c_str ());
// Check if the dataset has normals
std::vector<pcl::PCLPointField> fields;
if (getFieldIndex (cloud, "normal_x", fields) == -1)
{
print_error ("The input dataset does not contain normal information!\n");
return (false);
}
return (true);
}
void
compute (const PointCloud<PointNormal>::Ptr &input, PointCloud<VFHSignature308> &output)
{
// Estimate
TicToc tt;
tt.tic ();
print_highlight (stderr, "Computing ");
VFHEstimation<PointNormal, PointNormal, VFHSignature308> ne;
ne.setSearchMethod (search::KdTree<PointNormal>::Ptr (new search::KdTree<PointNormal>));
ne.setInputCloud (input);
ne.setInputNormals (input);
ne.compute (output);
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 PointCloud<VFHSignature308> &output)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
io::savePCDFile (filename, output, false);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Estimate VFH (308) descriptors using pcl::VFHEstimation. For more information, use: %s -h\n", argv[0]);
bool help = false;
parse_argument (argc, argv, "-h", help);
if (argc < 3 || help)
{
printHelp (argc, argv);
return (-1);
}
// 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
PointCloud<PointNormal>::Ptr cloud (new PointCloud<PointNormal>);
if (!loadCloud (argv[p_file_indices[0]], *cloud))
return (-1);
// Perform the feature estimation
PointCloud<VFHSignature308> output;
compute (cloud, output);
// Save into the second file
saveCloud (argv[p_file_indices[1]], output);
}
来源:PCL官方示例
标签:info,file,VFH,tt,argv,估计,PCL,print,output 来源: https://blog.csdn.net/com1098247427/article/details/120713178
本站声明: 1. iCode9 技术分享网(下文简称本站)提供的所有内容,仅供技术学习、探讨和分享; 2. 关于本站的所有留言、评论、转载及引用,纯属内容发起人的个人观点,与本站观点和立场无关; 3. 关于本站的所有言论和文字,纯属内容发起人的个人观点,与本站观点和立场无关; 4. 本站文章均是网友提供,不完全保证技术分享内容的完整性、准确性、时效性、风险性和版权归属;如您发现该文章侵犯了您的权益,可联系我们第一时间进行删除; 5. 本站为非盈利性的个人网站,所有内容不会用来进行牟利,也不会利用任何形式的广告来间接获益,纯粹是为了广大技术爱好者提供技术内容和技术思想的分享性交流网站。