void
MultiviewRecognizerWithChangeDetection<PointT>::reconstructionFiltering(typename pcl::PointCloud<PointT>::Ptr observation,
pcl::PointCloud<pcl::Normal>::Ptr observation_normals, const Eigen::Matrix4f &absolute_pose, size_t view_id) {
CloudPtr observation_transformed(new Cloud);
pcl::transformPointCloud(*observation, *observation_transformed, absolute_pose);
CloudPtr cloud_tmp(new Cloud);
std::vector<int> indices;
v4r::ChangeDetector<PointT>::difference(observation_transformed, removed_points_cumulated_history_[view_id],
cloud_tmp, indices, param_.tolerance_for_cloud_diff_);
/* Visualization of changes removal for reconstruction:
Cloud rec_changes;
rec_changes += *cloud_transformed;
v4r::VisualResultsStorage::copyCloudColored(*removed_points_cumulated_history_[view_id], rec_changes, 255, 0, 0);
v4r::VisualResultsStorage::copyCloudColored(*cloud_tmp, rec_changes, 200, 0, 200);
stringstream ss;
ss << view_id;
visResStore.savePcd("reconstruction_changes_" + ss.str(), rec_changes);*/
std::vector<bool> preserved_mask(observation->size(), false);
for (std::vector<int>::iterator i = indices.begin(); i < indices.end(); i++) {
preserved_mask[*i] = true;
}
for (size_t j = 0; j < preserved_mask.size(); j++) {
if (!preserved_mask[j]) {
setNan(observation->at(j));
setNan(observation_normals->at(j));
}
}
PCL_INFO("Points by change detection removed: %d\n", observation->size() - indices.size());
}
void
PCLViewer::loadFileButtonPressed ()
{
// You might want to change "/home/" if you're not on an *nix platform
QString filename = QFileDialog::getOpenFileName (this, tr ("Open point cloud"), "/home/", tr ("Point cloud data (*.pcd *.ply)"));
PCL_INFO("File chosen: %s\n", filename.toStdString ().c_str ());
PointCloudT::Ptr cloud_tmp (new PointCloudT);
if (filename.isEmpty ())
return;
int return_status;
if (filename.endsWith (".pcd", Qt::CaseInsensitive))
return_status = pcl::io::loadPCDFile (filename.toStdString (), *cloud_tmp);
else
return_status = pcl::io::loadPLYFile (filename.toStdString (), *cloud_tmp);
if (return_status != 0)
{
PCL_ERROR("Error reading point cloud %s\n", filename.toStdString ().c_str ());
return;
}
// If point cloud contains NaN values, remove them before updating the visualizer point cloud
if (cloud_tmp->is_dense)
pcl::copyPointCloud (*cloud_tmp, *cloud_);
else
{
PCL_WARN("Cloud is not dense! Non finite points will be removed\n");
std::vector<int> vec;
pcl::removeNaNFromPointCloud (*cloud_tmp, *cloud_, vec);
}
colorCloudDistances ();
viewer_->updatePointCloud (cloud_, "cloud");
viewer_->resetCamera ();
ui->qvtkWidget->update ();
}
void OctreeTerrain:: execute()
{
//qWarning()<<"octree terrain starts";
emit percentage( 5);
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_tmp(new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_tmp2(new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_tmp3(new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_tmp4(new pcl::PointCloud<pcl::PointXYZI>);
//velky cyklus
emit percentage( 10);
octree(m_resolution*5, m_baseCloud->get_Cloud(), cloud_tmp, cloud_tmp2);
emit percentage( 70);
octree(m_resolution/2, cloud_tmp2, cloud_tmp3, cloud_tmp4);
emit percentage( 80);
*cloud_tmp += *cloud_tmp3;
m_vegetation->set_Cloud(cloud_tmp);
m_terrain->set_Cloud(cloud_tmp4);
emit percentage( 90);
sendData();
}
