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 * $Id: boundary_estimation.cpp 1032 2011-05-18 22:43:27Z marton $
 *
 */

#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/boundary.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;

int    default_k = 0;
double default_radius = 0.0;
double default_angle  = M_PI/2.0;

Eigen::Vector4f    translation;
Eigen::Quaternionf orientation;

void
printHelp (int, char **argv)
{
  print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
  print_info ("  where options are:\n");
  print_info ("                     -radius X = use a radius of Xm around each point to determine the neighborhood (default: "); 
  print_value ("%f", default_radius); print_info (")\n");
  print_info ("                     -k X      = use a fixed number of X-nearest neighbors around each point (default: "); 
  print_value ("%d", default_k); print_info (")\n");
  print_info ("                     -thresh X = the decision boundary (angle threshold) that marks points as boundary or regular (default: "); 
  print_value ("%f", default_angle); print_info (")\n");
}

bool
loadCloud (const std::string &filename, sensor_msgs::PointCloud2 &cloud)
{
  TicToc tt;
  print_highlight ("Loading "); print_value ("%s ", filename.c_str ());

  tt.tic ();
  if (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 ());

  // Check if the dataset has normals
  if (pcl::getFieldIndex (cloud, "normal_x") == -1)
  {
    print_error ("The input dataset does not contain normal information!\n");
    return (false);
  }
  return (true);
}

void
compute (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output,
         int k, double radius, double angle)
{
  // Convert data to PointCloud<T>
  PointCloud<PointNormal>::Ptr xyznormals (new PointCloud<PointNormal>);
  fromROSMsg (*input, *xyznormals);

  // Estimate
  TicToc tt;
  tt.tic ();
  
  print_highlight (stderr, "Computing ");

  BoundaryEstimation<pcl::PointNormal, pcl::PointNormal, pcl::Boundary> ne;
  ne.setInputCloud (xyznormals);
  ne.setInputNormals (xyznormals);
  //ne.setSearchMethod (pcl::KdTreeFLANN<pcl::PointNormal>::Ptr (new pcl::KdTreeFLANN<pcl::PointNormal>));
  ne.setKSearch (k);
  ne.setAngleThreshold (static_cast<float> (angle));
  ne.setRadiusSearch (radius);
  
  PointCloud<Boundary> boundaries;
  ne.compute (boundaries);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", boundaries.width * boundaries.height); print_info (" points]\n");

  // Convert data back
  sensor_msgs::PointCloud2 output_boundaries;
  toROSMsg (boundaries, output_boundaries);
  concatenateFields (*input, output_boundaries, output);
}

void
saveCloud (const std::string &filename, const sensor_msgs::PointCloud2 &output)
{
  TicToc tt;
  tt.tic ();

  print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
  
  pcl::io::savePCDFile (filename, output, translation, orientation, 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 boundary points using pcl::BoundaryEstimation. 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);
  }

  // Command line parsing
  int k = default_k;
  double radius = default_radius;
  double angle  = default_angle;
  parse_argument (argc, argv, "-k", k);
  parse_argument (argc, argv, "-radius", radius);
  parse_argument (argc, argv, "-thresh", angle);

  // Load the first file
  sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2);
  if (!loadCloud (argv[p_file_indices[0]], *cloud)) 
    return (-1);

  // Perform the feature estimation
  sensor_msgs::PointCloud2 output;
  compute (cloud, output, k, radius, angle);

  // Save into the second file
  saveCloud (argv[p_file_indices[1]], output);
}

