PCL点云去中心化demean

最新推荐文章于 2024-07-12 16:34:36 发布

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最新推荐文章于 2024-07-12 16:34:36 发布

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分类专栏： PCL示例代码文章标签： c++

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去中心化，每个点减去点云中心点，可以用于局部坐标系的建立。

#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/common/centroid.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, pcl::PCLPointCloud2 &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
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &cloud)
{
  TicToc tt;
  tt.tic ();

  print_highlight ("Saving "); print_value ("%s ", filename.c_str ());

  pcl::PCDWriter writer;
  writer.writeBinaryCompressed (filename, cloud);
  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
}

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Convert a PCD file to PLY format. For more information, use: %s -h\n", argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .pcd files
  std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  if (pcd_file_indices.size () != 2)
  {
    print_error ("Need one input and one output PCD file.\n");
    return (-1);
  }

  // Load the first file
  pcl::PCLPointCloud2 cloud;
  if (!loadCloud (argv[pcd_file_indices[0]], cloud))
    return (-1);

  PointCloud<PointXYZ> cloud_xyz, cloud_xyz_demeaned;
  fromPCLPointCloud2 (cloud, cloud_xyz);
  Eigen::Vector4f centroid;
  compute3DCentroid (cloud_xyz, centroid);
  demeanPointCloud (cloud_xyz, centroid, cloud_xyz_demeaned);

  pcl::PCLPointCloud2 cloud2_xyz_demeaned;
  toPCLPointCloud2 (cloud_xyz_demeaned, cloud2_xyz_demeaned);
  pcl::PCLPointCloud2 cloud_out;
  concatenateFields (cloud, cloud2_xyz_demeaned, cloud_out);

  // Save cloud
  saveCloud (argv[pcd_file_indices[1]], cloud_out);

  return (0);
}