#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?

typedef?std::pair?>?vfh_model;

/**?\brief?Loads?an?n-D?histogram?file?as?a?VFH?signature
??*?\param?path?the?input?file?name
??*?\param?vfh?the?resultant?VFH?model
??*/
bool
loadHist?（const?boost::filesystem::path?&path?vfh_model?&vfh）
{
??int?vfh_idx;
??//?Load?the?file?as?a?PCD
??try
??{
????sensor_msgs::PointCloud2?cloud;
????int?version;
????Eigen::Vector4f?origin;
????Eigen::Quaternionf?orientation;
????pcl::PCDReader?r;
????int?type;?unsigned?int?idx;
????r.readHeader?（path.string?（）?cloud?origin?orientation?version?type?idx）;

????vfh_idx?=?pcl::getFieldIndex?（cloud?“vfh“）;
????if?（vfh_idx?==?-1）
??????return?（false）;
????if?（（int）cloud.width?*?cloud.height?!=?1）
??????return?（false）;
??}
??catch?（pcl::InvalidConversionException?e）
??{
????return?（false）;
??}

??//?Treat?the?VFH?signature?as?a?single?Point?Cloud
??pcl::PointCloud??point;
??pcl::io::loadPCDFile?（path.string?（）?point）;
??vfh.second.resize?（308）;

??std::vector??fields;
??pcl::getFieldIndex?（point?“vfh“?fields）;

??for?（size_t?i?=?0;?i???{
????vfh.second[i]?=?point.points[0].histogram[i];
??}
??vfh.first?=?path.string?（）;
??return?（true）;
}

/**?\brief?Load?a?set?of?VFH?features?that?will?act?as?the?model?（training?data）
??*?\param?argc?the?number?of?arguments?（pass?from?main?（））
??*?\param?argv?the?actual?command?line?arguments?（pass?from?main?（））
??*?\param?extension?the?file?extension?containing?the?VFH?features
??*?\param?models?the?resultant?vector?of?histogram?models
??*/
void
loadFeatureModels?（const?boost::filesystem::path?&base_dir?const?std::string?&extension?
???????????????????std::vector?&models）
{
??if?（!boost::filesystem::exists?（base_dir）?&&?!boost::filesystem::is_directory?（base_dir））
????return;

??for?（boost::filesystem::directory_iterator?it?（base_dir）;?it?!=?boost::filesystem::directory_iterator?（）;?++it）
??{
????if?（boost::filesystem::is_directory?（it->status?（）））
????{
??????std::stringstream?ss;
??????ss?<path?（）;
??????pcl::console::print_highlight?（“Loading?%s?（%lu?models?loaded?so?far）.\n“?ss.str?（）.c_str?（）?（unsigned?long）models.size?（））;
??????loadFeatureModels?（it->path?（）?extension?models）;
????}
????if?（boost::filesystem::is_regular_file?（it->status?（））?&&?boost::filesystem::extension?（it->path?（））?==?extension）
????{
??????vfh_model?m;
??????if?（loadHist?（base_dir?/?it->path?（）.filename?（）?m））
????????models.push_back?（m）;
????}
??}
}

int
main?（int?argc?char**?argv）
{
??if?（argc???{
????PCL_ERROR?（“Need?at?least?two?parameters!?Syntax?is:?%s?[model_directo

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4753??2012-05-27?23:46??build_tree.cpp

?????文件????????960??2012-05-27?23:49??CMakeLists.txt

?????文件???????2152??2016-06-14?23:51??conditional_euclidean_clustering.cpp

?????文件???????2038??2016-06-14?23:51??min_cut_segmentation.cpp

?????文件???????9927??2012-05-27?23:48??nearest_neighbors.cpp

?????文件???????2005??2016-06-14?23:51??region_growing.cpp

?????文件???????2194??2016-06-14?23:51??region_growing_rgb.cpp

?????文件???????2429??2016-06-14?23:51??sac_segmentation.cpp

?????文件???????2022??2016-06-14?23:51??segment_differences.cpp

?????文件???????4053??2017-03-07?21:35??segmentation_0.cpp

-----------?---------??----------?-----??----

????????????????32533????????????????????10