C++ (Cpp) ORROctree::getFullLeafPoints Beispiele

Beispiel #1

Datei: obj_rec_ransac_orr_octree_zprojection.cpp Projekt: jyh3322026/pcl

void run (const char* file_name, float voxel_size)
{
  PointCloud<PointXYZ>::Ptr points_in (new PointCloud<PointXYZ> ());
  PointCloud<PointXYZ>::Ptr points_out (new PointCloud<PointXYZ> ());

  // Get the points and normals from the input vtk file
  if ( !vtk_to_pointcloud (file_name, *points_in) )
    return;

  // Build the octree with the desired resolution
  ORROctree octree;
  octree.build (*points_in, voxel_size);

  // Now build the octree z-projection
  ORROctreeZProjection zproj;
  zproj.build (octree, 0.15f*voxel_size, 0.15f*voxel_size);

  // The visualizer
  PCLVisualizer viz;

  show_octree(&octree, viz);
  show_octree_zproj(&zproj, viz);

#ifdef _SHOW_POINTS_
  // Get the point of every full octree leaf
  octree.getFullLeafPoints (*points_out);

  // Add the point clouds
  viz.addPointCloud (points_in, "cloud in");
  viz.addPointCloud (points_out, "cloud out");

  // Change the appearance
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud out");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud out");
#endif

  // Enter the main loop
  while (!viz.wasStopped ())
  {
    //main loop of the visualizer
    viz.spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }
}