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Commit 8be26b9

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Daniel
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‎main.cpp‎

Lines changed: 152 additions & 41 deletions
Original file line numberDiff line numberDiff line change
@@ -64,7 +64,7 @@ void readCloudFromFile(int argc, char** argv, std::vector<htr::Point3D>& points,
6464
if(filenames.size()<=0){
6565
filenames = pcl::console::parse_file_extension_argument(argc, argv, ".xyz");
6666
if(filenames.size()<=0){
67-
std::cerr << "Usage: ./dbscan <file.txt> <octree resolution> <eps> <minPtsAux> <minPts> <output dir>" << std::endl;
67+
std::cerr << "Usage: ./dbscan <file.txt> <octree resolution> <eps> <minPtsAux> <minPts> <output dir> output extension = pcd(default)" << std::endl;
6868
return std::exit(-1);
6969
}else if(filenames.size() == 1){
7070
file_is_xyz = true;
@@ -79,14 +79,14 @@ void readCloudFromFile(int argc, char** argv, std::vector<htr::Point3D>& points,
7979
else if(filenames.size() == 1){
8080
file_is_ply = true;
8181
}else{
82-
std::cerr << "Usage: ./dbscan <file.txt> <octree resolution> <eps> <minPtsAux> <minPts> <output dir>" << std::endl;
82+
std::cerr << "Usage: ./dbscan <file.txt> <octree resolution> <eps> <minPtsAux> <minPts> <output dir> output extension = pcd(default)" << std::endl;
8383
return std::exit(-1);
8484
}
8585

8686
if(file_is_pcd){
8787
if(pcl::io::loadPCDFile(argv[filenames[0]], *cloud) < 0){
8888
std::cout << "Error loading point cloud " << argv[filenames[0]] << "\n";
89-
std::cerr << "Usage: ./dbscan <file.txt> <octree resolution> <eps> <minPtsAux> <minPts> <output dir>" << std::endl;
89+
std::cerr << "Usage: ./dbscan <file.txt> <octree resolution> <eps> <minPtsAux> <minPts> <output dir> output extension = pcd(default)" << std::endl;
9090
return std::exit(-1);
9191
}
9292
pcl::console::print_info("\nFound pcd file.\n");
@@ -219,7 +219,7 @@ void readCloudFromFile(int argc, char** argv, std::vector<htr::Point3D>& points,
219219
//calculateCentroid(points);
220220
}
221221

222-
void init(int argc, char** argv,bool show){
222+
void init(int argc, char** argv,bool show,std::string extension){
223223

224224
std::vector<htr::Point3D> groupA;
225225
dbScanSpace::dbscan dbscan;
@@ -236,11 +236,12 @@ void init(int argc, char** argv,bool show){
236236
//----------------------------------------------------------------
237237

238238
//----------------------------------------------------------------
239+
double a;
239240

240241
if(not is_number(octreeResolution_str)){
241242
PCL_ERROR("\nError: enter a valid octree resolution\n");
242243
std::exit(-1);
243-
}else if(not is_number(eps_str)){
244+
}else if(not is_number(eps_str) and not(std::fmod(std::atof(eps_str.c_str()), 1.0))){
244245
PCL_ERROR("\nError: enter a valid epsilon\n");
245246
std::exit(-1); /*VALIDATION*/
246247
}else if(not is_number(minPtsAux_str)){
@@ -300,51 +301,140 @@ void init(int argc, char** argv,bool show){
300301

301302
}
302303

303-
//Save cloud_cluster_#.txt:
304+
//-----------------Save cloud_cluster_#.txt:-------------------------//
304305

305-
for(auto& cluster : dbscan.getClusters()){
306+
if(extension == "txt"){
306307

307-
std::string str1 = output_dir;
308-
str1 += "/cloud_cluster_";
309-
str1 += std::to_string(cont);
310-
str1 += ".txt";
308+
for(auto& cluster : dbscan.getClusters()){
311309

312-
fout.open(str1.c_str());
310+
std::string str1 = output_dir;
311+
str1 += "/cloud_cluster_";
312+
str1 += std::to_string(cont);
313+
str1 += ".txt";
313314

314-
for(auto& point:cluster.clusterPoints){
315+
fout.open(str1.c_str());
315316

316-
uint32_t rgb_ = *reinterpret_cast<int*>(&point.rgb);
317-
uint8_t r_, g_, b_;
317+
for(auto& point:cluster.clusterPoints){
318318

319-
r_ = (rgb_ >> 16) & 0x0000ff;
320-
g_ = (rgb_ >> 8) & 0x0000ff;
321-
b_ = (rgb_) & 0x0000ff;
319+
uint32_t rgb_ = *reinterpret_cast<int*>(&point.rgb);
320+
uint8_t r_, g_, b_;
322321

323-
unsigned int r, g, b;
324-
r = *((uint8_t *) &r_);
325-
g = *((uint8_t *) &g_);
326-
b = *((uint8_t *) &b_);
327-
328-
fout << point.x << " " << point.y << " "<< point.z << " " << r << " " << g << " " << b << std::endl;
329-
330-
}
322+
r_ = (rgb_ >> 16) & 0x0000ff;
323+
g_ = (rgb_ >> 8) & 0x0000ff;
324+
b_ = (rgb_) & 0x0000ff;
331325

332-
fout.close();
333-
cont +=1;
334-
}
326+
unsigned int r, g, b;
327+
r = *((uint8_t *) &r_);
328+
g = *((uint8_t *) &g_);
329+
b = *((uint8_t *) &b_);
330+
331+
fout << point.x << " " << point.y << " "<< point.z << " " << r << " " << g << " " << b << std::endl;
332+
333+
}
334+
335+
fout.close();
336+
cont +=1;
337+
}
335338

336-
ofstream fout2;
339+
/*ofstream fout2;
337340
std::string str2 = output_dir;
338341
str2 += "/clusters_number.txt";
339342
fout2.open(str2.c_str());
340343
fout2 << cont << std::endl;
341-
fout2.close();
344+
fout2.close();*/
345+
346+
}else if(extension == "pcd"){
347+
348+
for(auto& cluster : dbscan.getClusters()){
349+
350+
std::string str1 = output_dir;
351+
str1 += "/cloud_cluster_";
352+
str1 += std::to_string(cont);
353+
str1 += ".pcd";
354+
355+
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_cluster_pcd (new pcl::PointCloud<pcl::PointXYZRGB>());
356+
357+
for(auto& point:cluster.clusterPoints){
358+
359+
pcl::PointXYZRGB pt;
360+
361+
pt.x = point.x;
362+
pt.y = point.y;
363+
pt.z = point.z;
364+
365+
pt.r = point.r;
366+
pt.g = point.g;
367+
pt.b = point.b;
368+
369+
cloud_cluster_pcd->points.push_back(pt);
370+
}
371+
372+
pcl::io::savePCDFileBinary(str1.c_str(), *cloud_cluster_pcd);
373+
cont +=1;
374+
}
375+
376+
}else if(extension == "ply"){
377+
378+
for(auto& cluster : dbscan.getClusters()){
379+
380+
std::string str1 = output_dir;
381+
str1 += "/cloud_cluster_";
382+
str1 += std::to_string(cont);
383+
str1 += ".ply";
384+
385+
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_cluster_ply (new pcl::PointCloud<pcl::PointXYZRGB>());
386+
387+
for(auto& point:cluster.clusterPoints){
388+
389+
pcl::PointXYZRGB pt;
390+
391+
pt.x = point.x;
392+
pt.y = point.y;
393+
pt.z = point.z;
394+
395+
pt.r = point.r;
396+
pt.g = point.g;
397+
pt.b = point.b;
398+
399+
cloud_cluster_ply->points.push_back(pt);
400+
}
401+
402+
pcl::PLYWriter writer;
403+
writer.write(str1.c_str(), *cloud_cluster_ply, false, false);
404+
cont +=1;
405+
}
406+
407+
}else if(extension == "xyz"){
408+
409+
for(auto& cluster : dbscan.getClusters()){
410+
411+
std::string str1 = output_dir;
412+
str1 += "/cloud_cluster_";
413+
str1 += std::to_string(cont);
414+
str1 += ".xyz";
415+
416+
fout.open(str1.c_str());
417+
418+
for(auto& point:cluster.clusterPoints){
419+
420+
fout << point.x << " " << point.y << " "<< point.z << std::endl;
421+
422+
}
423+
424+
fout.close();
425+
cont +=1;
426+
}
427+
}
428+
429+
//-------------------------------------------------------------------//
342430

343431
end = std::chrono::system_clock::now();
344432

345433
std::chrono::duration<double> elapsed_seconds = end-start;
346434
std::cout << "\nelapsed time: " << elapsed_seconds.count() << "s\n";
347435

436+
//-----------------Visualize clusters pcl-visualizer-----------------//
437+
348438
if(show){
349439

350440
//std::cout << "\nPrinting clusters..." << std::endl;
@@ -461,20 +551,41 @@ void init(int argc, char** argv,bool show){
461551

462552
int main(int argc, char** argv){
463553

464-
if(argc < 7 or argc > 7){
554+
if(argc < 7 or argc > 8){
465555

466-
std::cerr << "Usage: ./dbscan <file.ply> <octree resolution> <eps> <minPts aux> <minPts> <output dir>" << std::endl;
556+
std::cerr << "Usage: ./dbscan <file.ply> <octree resolution> <eps> <minPts aux> <minPts> <output dir> <output extension = pcd(default)>" << std::endl;
467557
std::cerr << "Support: ply - pcd - txt - xyz" << std::endl;
468558
return -1;
469559
}
470-
471-
std::cout << "\n*************************************" << std::endl;
472-
std::cout << "*** DBSCAN Cluster Segmentation *** " << std::endl;
473-
std::cout << "*************************************" << std::endl;
474-
475-
bool showClusters = true;
476560

477-
init(argc,argv,showClusters);
561+
std::string extension;
562+
563+
if(argc == 7){
564+
extension = "pcd";
565+
}else{
566+
567+
std::string temp = argv[7];
568+
569+
if(temp == "ply"){
570+
extension = "ply";
571+
}else if(temp == "txt"){
572+
extension = "txt";
573+
}else if(temp == "xyz"){
574+
extension = "xyz";
575+
}else{
576+
std::cout << "output extension must be: ply, txt or xyz (default=pcd)" << std::endl;
577+
std::exit(-1);
578+
}
579+
}
580+
581+
std::cout << "\n*************************************" << std::endl;
582+
std::cout << "*** DBSCAN Cluster Segmentation *** " << std::endl;
583+
std::cout << "*************************************" << std::endl;
584+
585+
bool showClusters = true;
586+
587+
init(argc,argv,showClusters,extension);
588+
589+
return 0;
478590

479-
return 0;
480591
}

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