Merge pull request #519 from chambbj/hausdorff-tool-updated

Add: simple tool to compute Hausdorff distance between two point clouds

tools/CMakeLists.txt

@@ -135,6 +135,9 @@ if (build)
   PCL_ADD_EXECUTABLE(pcl_demean_cloud "${SUBSYS_NAME}" demean_cloud.cpp)
   target_link_libraries(pcl_demean_cloud pcl_common pcl_io)
 
+  PCL_ADD_EXECUTABLE(pcl_compute_hausdorff "${SUBSYS_NAME}" compute_hausdorff.cpp)
+  target_link_libraries(pcl_compute_hausdorff pcl_common pcl_io pcl_search)
+
 
   if(BUILD_OPENNI AND OPENNI_FOUND)
     PCL_ADD_EXECUTABLE(pcl_oni2pcd "${SUBSYS_NAME}" oni2pcd.cpp)

tools/compute_hausdorff.cpp

@@ -0,0 +1,158 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2009-2012, Willow Garage, Inc.
+ *  Copyright (c) 2012-, Open Perception, Inc.
+ *  Copyright (c) 2014, RadiantBlue Technologies, 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.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/search/kdtree.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+using namespace pcl::search;
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+
+void
+printHelp (int, char **argv)
+{
+  print_error ("Syntax is: %s cloud_a.pcd cloud_b.pcd\n", argv[0]);
+}
+
+bool
+loadCloud (const std::string &filename, Cloud &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
+compute (Cloud &cloud_a, Cloud &cloud_b)
+{
+  // Estimate
+  TicToc tt;
+  tt.tic ();
+
+  print_highlight (stderr, "Computing ");
+
+  // compare A to B
+  pcl::search::KdTree<PointType> tree_b;
+  tree_b.setInputCloud (cloud_b.makeShared ());
+  float max_dist_a = -std::numeric_limits<float>::max ();
+  for (int i = 0; i < cloud_a.points.size (); ++i)
+  {
+    std::vector<int> indices (1);
+    std::vector<float> sqr_distances (1);
+
+    tree_b.nearestKSearch (cloud_a.points[i], 1, indices, sqr_distances);
+    if (sqr_distances[0] > max_dist_a)
+      max_dist_a = sqr_distances[0];
+  }
+
+  // compare B to A
+  pcl::search::KdTree<PointType> tree_a;
+  tree_a.setInputCloud (cloud_a.makeShared ());
+  float max_dist_b = -std::numeric_limits<float>::max ();
+  for (int i = 0; i < cloud_b.points.size (); ++i)
+  {
+    std::vector<int> indices (1);
+    std::vector<float> sqr_distances (1);
+
+    tree_a.nearestKSearch (cloud_b.points[i], 1, indices, sqr_distances);
+    if (sqr_distances[0] > max_dist_b)
+      max_dist_b = sqr_distances[0];
+  }
+
+  float dist = std::max (max_dist_a, max_dist_b);
+
+  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : ");
+  print_info ("A->B: "); print_value ("%f", max_dist_a);
+  print_info (", B->A: "); print_value ("%f", max_dist_b);
+  print_info (", Hausdorff Distance: "); print_value ("%f", dist);
+  print_info (" ]\n");
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+  print_info ("Compute Hausdorff distance between point clouds. 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> p_file_indices;
+  p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+  if (p_file_indices.size () != 2)
+  {
+    print_error ("Need two PCD files to compute Hausdorff distance.\n");
+    return (-1);
+  }
+
+  // Load the first file
+  Cloud::Ptr cloud_a (new Cloud);
+  if (!loadCloud (argv[p_file_indices[0]], *cloud_a))
+    return (-1);
+
+  // Load the second file
+  Cloud::Ptr cloud_b (new Cloud);
+  if (!loadCloud (argv[p_file_indices[1]], *cloud_b))
+    return (-1);
+
+  // Compute the Hausdorff distance
+  compute (*cloud_a, *cloud_b);
+}
+