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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, 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.
*
*/
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/common/transforms.h>
#include <vtkVersion.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkTriangle.h>
#include <vtkTriangleFilter.h>
#include <vtkPolyDataMapper.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
inline double
uniform_deviate (int seed)
{
double ran = seed * (1.0 / (RAND_MAX + 1.0));
return ran;
}
inline void
randomPointTriangle (float a1, float a2, float a3, float b1, float b2, float b3, float c1, float c2, float c3,
float r1, float r2, Eigen::Vector3f& p)
{
float r1sqr = std::sqrt (r1);
float OneMinR1Sqr = (1 - r1sqr);
float OneMinR2 = (1 - r2);
a1 *= OneMinR1Sqr;
a2 *= OneMinR1Sqr;
a3 *= OneMinR1Sqr;
b1 *= OneMinR2;
b2 *= OneMinR2;
b3 *= OneMinR2;
c1 = r1sqr * (r2 * c1 + b1) + a1;
c2 = r1sqr * (r2 * c2 + b2) + a2;
c3 = r1sqr * (r2 * c3 + b3) + a3;
p[0] = c1;
p[1] = c2;
p[2] = c3;
}
inline void
randPSurface (vtkPolyData * polydata, std::vector<double> * cumulativeAreas, double totalArea, Eigen::Vector3f& p, bool calcNormal, Eigen::Vector3f& n, bool calcColor, Eigen::Vector3f& c)
{
float r = static_cast<float> (uniform_deviate (rand ()) * totalArea);
std::vector<double>::iterator low = std::lower_bound (cumulativeAreas->begin (), cumulativeAreas->end (), r);
vtkIdType el = vtkIdType (low - cumulativeAreas->begin ());
double A[3], B[3], C[3];
vtkIdType npts = 0;
vtkIdType *ptIds = NULL;
polydata->GetCellPoints (el, npts, ptIds);
polydata->GetPoint (ptIds[0], A);
polydata->GetPoint (ptIds[1], B);
polydata->GetPoint (ptIds[2], C);
if (calcNormal)
{
// OBJ: Vertices are stored in a counter-clockwise order by default
Eigen::Vector3f v1 = Eigen::Vector3f (A[0], A[1], A[2]) - Eigen::Vector3f (C[0], C[1], C[2]);
Eigen::Vector3f v2 = Eigen::Vector3f (B[0], B[1], B[2]) - Eigen::Vector3f (C[0], C[1], C[2]);
n = v1.cross (v2);
n.normalize ();
}
float r1 = static_cast<float> (uniform_deviate (rand ()));
float r2 = static_cast<float> (uniform_deviate (rand ()));
randomPointTriangle (float (A[0]), float (A[1]), float (A[2]),
float (B[0]), float (B[1]), float (B[2]),
float (C[0]), float (C[1]), float (C[2]), r1, r2, p);
if (calcColor)
{
vtkUnsignedCharArray *const colors = vtkUnsignedCharArray::SafeDownCast (polydata->GetPointData ()->GetScalars ());
if (colors && colors->GetNumberOfComponents () == 3)
{
double cA[3], cB[3], cC[3];
colors->GetTuple (ptIds[0], cA);
colors->GetTuple (ptIds[1], cB);
colors->GetTuple (ptIds[2], cC);
randomPointTriangle (float (cA[0]), float (cA[1]), float (cA[2]),
float (cB[0]), float (cB[1]), float (cB[2]),
float (cC[0]), float (cC[1]), float (cC[2]), r1, r2, c);
}
else
{
static bool printed_once = false;
if (!printed_once)
PCL_WARN ("Mesh has no vertex colors, or vertex colors are not RGB!");
printed_once = true;
}
}
}
void
uniform_sampling (vtkSmartPointer<vtkPolyData> polydata, size_t n_samples, bool calc_normal, bool calc_color, pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud_out)
{
polydata->BuildCells ();
vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys ();
double p1[3], p2[3], p3[3], totalArea = 0;
std::vector<double> cumulativeAreas (cells->GetNumberOfCells (), 0);
size_t i = 0;
vtkIdType npts = 0, *ptIds = NULL;
for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds); i++)
{
polydata->GetPoint (ptIds[0], p1);
polydata->GetPoint (ptIds[1], p2);
polydata->GetPoint (ptIds[2], p3);
totalArea += vtkTriangle::TriangleArea (p1, p2, p3);
cumulativeAreas[i] = totalArea;
}
cloud_out.points.resize (n_samples);
cloud_out.width = static_cast<pcl::uint32_t> (n_samples);
cloud_out.height = 1;
for (i = 0; i < n_samples; i++)
{
Eigen::Vector3f p;
Eigen::Vector3f n;
Eigen::Vector3f c;
randPSurface (polydata, &cumulativeAreas, totalArea, p, calc_normal, n, calc_color, c);
cloud_out.points[i].x = p[0];
cloud_out.points[i].y = p[1];
cloud_out.points[i].z = p[2];
if (calc_normal)
{
cloud_out.points[i].normal_x = n[0];
cloud_out.points[i].normal_y = n[1];
cloud_out.points[i].normal_z = n[2];
}
if (calc_color)
{
cloud_out.points[i].r = static_cast<uint8_t>(c[0]);
cloud_out.points[i].g = static_cast<uint8_t>(c[1]);
cloud_out.points[i].b = static_cast<uint8_t>(c[2]);
}
}
}
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
const int default_number_samples = 100000;
const float default_leaf_size = 0.01f;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.{ply,obj} output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -n_samples X = number of samples (default: ");
print_value ("%d", default_number_samples);
print_info (")\n");
print_info (
" -leaf_size X = the XYZ leaf size for the VoxelGrid -- for data reduction (default: ");
print_value ("%f", default_leaf_size);
print_info (" m)\n");
print_info (" -write_normals = flag to write normals to the output pcd\n");
print_info (" -write_colors = flag to write colors to the output pcd\n");
print_info (
" -no_vis_result = flag to stop visualizing the generated pcd\n");
}
/* ---[ */
int
main (int argc, char **argv)
{
print_info ("Convert a CAD model to a point cloud using uniform sampling. For more information, use: %s -h\n",
argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse command line arguments
int SAMPLE_POINTS_ = default_number_samples;
parse_argument (argc, argv, "-n_samples", SAMPLE_POINTS_);
float leaf_size = default_leaf_size;
parse_argument (argc, argv, "-leaf_size", leaf_size);
bool vis_result = ! find_switch (argc, argv, "-no_vis_result");
const bool write_normals = find_switch (argc, argv, "-write_normals");
const bool write_colors = find_switch (argc, argv, "-write_colors");
// Parse the command line arguments for .ply and PCD files
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (pcd_file_indices.size () != 1)
{
print_error ("Need a single output PCD file to continue.\n");
return (-1);
}
std::vector<int> ply_file_indices = parse_file_extension_argument (argc, argv, ".ply");
std::vector<int> obj_file_indices = parse_file_extension_argument (argc, argv, ".obj");
if (ply_file_indices.size () != 1 && obj_file_indices.size () != 1)
{
print_error ("Need a single input PLY/OBJ file to continue.\n");
return (-1);
}
vtkSmartPointer<vtkPolyData> polydata1 = vtkSmartPointer<vtkPolyData>::New ();
if (ply_file_indices.size () == 1)
{
pcl::PolygonMesh mesh;
pcl::io::loadPolygonFilePLY (argv[ply_file_indices[0]], mesh);
pcl::io::mesh2vtk (mesh, polydata1);
}
else if (obj_file_indices.size () == 1)
{
vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
readerQuery->SetFileName (argv[obj_file_indices[0]]);
readerQuery->Update ();
polydata1 = readerQuery->GetOutput ();
}
//make sure that the polygons are triangles!
vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New ();
triangleFilter->SetInputData (polydata1);
triangleFilter->Update ();
vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
triangleMapper->SetInputConnection (triangleFilter->GetOutputPort ());
triangleMapper->Update ();
polydata1 = triangleMapper->GetInput ();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_1 (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
uniform_sampling (polydata1, SAMPLE_POINTS_, write_normals, write_colors, *cloud_1);
// Voxelgrid
VoxelGrid<PointXYZRGBNormal> grid_;
grid_.setInputCloud (cloud_1);
grid_.setLeafSize (leaf_size, leaf_size, leaf_size);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr voxel_cloud (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
grid_.filter (*voxel_cloud);
if (vis_result)
{
visualization::PCLVisualizer vis3 ("VOXELIZED SAMPLES CLOUD");
vis3.addPointCloud<pcl::PointXYZRGBNormal> (voxel_cloud);
if (write_normals)
vis3.addPointCloudNormals<pcl::PointXYZRGBNormal> (voxel_cloud, 1, 0.02f, "cloud_normals");
vis3.spin ();
}
if (write_normals && write_colors)
{
savePCDFileASCII (argv[pcd_file_indices[0]], *voxel_cloud);
}
else if (write_normals)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_xyzn (new pcl::PointCloud<pcl::PointNormal>);
// Strip uninitialized colors from cloud:
pcl::copyPointCloud (*voxel_cloud, *cloud_xyzn);
savePCDFileASCII (argv[pcd_file_indices[0]], *cloud_xyzn);
}
else if (write_colors)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_xyzrgb (new pcl::PointCloud<pcl::PointXYZRGB>);
// Strip uninitialized normals from cloud:
pcl::copyPointCloud (*voxel_cloud, *cloud_xyzrgb);
savePCDFileASCII (argv[pcd_file_indices[0]], *cloud_xyzrgb);
}
else // !write_normals && !write_colors
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);
// Strip uninitialized normals and colors from cloud:
pcl::copyPointCloud (*voxel_cloud, *cloud_xyz);
savePCDFileASCII (argv[pcd_file_indices[0]], *cloud_xyz);
}
}