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- /*
- * Software License Agreement (BSD License)
- *
- * Point Cloud Library (PCL) - www.pointclouds.org
- * Copyright (c) 2010, Willow Garage, Inc.
- * Copyright (c) 2012-, 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 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.
- *
- * $Id$
- *
- */
- /**
- @b pcd_concatenate_points exemplifies how to concatenate the points of two PointClouds having the same fields.
- **/
- #include <iostream>
- #include <pcl/console/time.h>
- #include <pcl/io/pcd_io.h>
- #include <pcl/point_types.h>
- Eigen::Vector4f translation;
- Eigen::Quaternionf orientation;
- ////////////////////////////////////////////////////////////////////////////////
- /** \brief Parse command line arguments for file names.
- * Returns: a vector with file names indices.
- * \param argc
- * \param argv
- * \param extension
- */
- std::vector<int>
- parseFileExtensionArgument (int argc, char** argv, std::string extension)
- {
- std::vector<int> indices;
- for (int i = 1; i < argc; ++i)
- {
- std::string fname = std::string (argv[i]);
- // Needs to be at least 4: .ext
- if (fname.size () <= 4)
- continue;
- // For being case insensitive
- std::transform (fname.begin (), fname.end (), fname.begin (), tolower);
- std::transform (extension.begin (), extension.end (), extension.begin (), tolower);
- // Check if found
- std::string::size_type it;
- if ((it = fname.find (extension)) != std::string::npos)
- {
- // Additional check: we want to be able to differentiate between .p and .png
- if ((extension.size () - (fname.size () - it)) == 0)
- indices.push_back (i);
- }
- }
- return (indices);
- }
- bool
- loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
- {
- using namespace pcl::console;
- TicToc tt;
- print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
- tt.tic ();
- if (pcl::io::loadPCDFile (filename, cloud, translation, orientation) < 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 &output)
- {
- using namespace pcl::console;
- TicToc tt;
- tt.tic ();
- print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
- pcl::PCDWriter w;
- w.writeBinaryCompressed (filename, output, translation, orientation);
- 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)
- char output_fname[2048];
- {
- if (argc < 2)
- {
- std::cerr << "Syntax is: " << argv[0] << " <filename 1..N.pcd>" << std::endl;
- std::cerr << "Result will be saved to output.pcd" << std::endl;
- return (-1);
- }
- std::vector<int> file_indices = parseFileExtensionArgument (argc, argv, ".pcd");
- //pcl::PointCloud<pcl::PointXYZ> cloud_all;
- pcl::PCLPointCloud2 cloud_all;
- for (size_t i = 0; i < file_indices.size (); ++i)
- {
- // Load the Point Cloud
- pcl::PCLPointCloud2 cloud;
- loadCloud (argv[file_indices[i]], cloud);
- //pcl::PointCloud<pcl::PointXYZ> cloud;
- //pcl::io::loadPCDFile (argv[file_indices[i]], cloud);
- //cloud_all += cloud;
- pcl::concatenatePointCloud (cloud_all, cloud, cloud_all);
- PCL_INFO ("Total number of points so far: %u. Total data size: %zu bytes.\n", cloud_all.width * cloud_all.height, cloud_all.data.size ());
- }
- std::cout << "Output file name:";
- std::cin >> output_fname;
- saveCloud(output_fname,cloud_all);
- return (0);
- }
- /* ]--- */
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