PointCloudPtr loadRGBD2Cloud(string depth_file, string reg_file)
{
cv::Mat depthMat = reload_32f_image(depth_file);
cv::Mat imageMat = cv::imread(reg_file);
PointCloudBuilder * builder = new PointCloudBuilder(depthMat, imageMat);
PointCloudPtr cloud = builder->getPointCloud();
delete builder;
return cloud;
}
int main()
{
cv::Mat depthMat = reload_32f_image("/home/yht/KinectData/depth.bin");
cv::Mat imageMat = cv::imread("/home/yht/KinectData/registered.png");
PointCloudBuilder * builder = new LineFilter(depthMat, imageMat);
PointCloudPtr pointCloud = builder->getPointCloud();
pcl::io::savePCDFile("/home/yht/KinectData/sample1.pcd", *pointCloud, true);
delete builder;
// PointCloudPtr filteredCloud = removeBigPlanes(pointCloud, 0.2, 3, 5);
// pcl::VoxelGrid<pcl::PointXYZRGB> grid;
//
//
// ProjectionDivider divider(pointCloud);
// double xMin = divider.getXMin();
// double yMin = divider.getYMin();
// double zMin = divider.getZMin();
//
// PointCloudPtr subCloud = getSubCloud(pointCloud, xMin +55, xMin + 180,
// yMin + 30, yMin + 42, zMin, zMin + 300);
// ofstream fxOut("/Users/gjc13/KinectData/planeX.data");
// ofstream fyOut("/Users/gjc13/KinectData/planeY.data");
// ofstream fzOut("/Users/gjc13/KinectData/planeZ.data");
// for(auto point: subCloud->points)
// {
// double x = point.x;
// fxOut << x << endl;
// }
// for(auto point: subCloud->points)
// {
// double y = point.y;
// fyOut << y << endl;
// }
// for(auto point: subCloud->points)
// {
// double z = point.z;
// fzOut << z << endl;
// }
// auto viewer = rgbVis(pointCloud);
// while (!viewer->wasStopped())
// {
// viewer->spinOnce(100);
// boost::this_thread::sleep(boost::posix_time::microseconds(100000));
// }
return 0;
}
