void main()
{
// viewerを作る
pcl::visualization::CloudViewer viewer( "OpenNI Viewer" );
// データ更新のコールバック関数
boost::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f =
[&viewer](const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud) {
if (!viewer.wasStopped()) {
pcl::PointCloud<pcl::PointXYZRGB> segmented_cloud( *cloud );
segmentate( segmented_cloud, 0.01 );
viewer.showCloud( segmented_cloud.makeShared() );
}
};
// OpenNIの入力を作る
pcl::Grabber* interface = new pcl::OpenNIGrabber();
interface->registerCallback( f );
interface->start();
while ( !viewer.wasStopped() ) {
Sleep( 0 );
}
interface->stop();
}
int main()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr1(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr segmented_cloud(new pcl::PointCloud<pcl::PointXYZ>);
//load point cloud
loadcloud(cloud_ptr);
pcl::PointCloud <pcl::Normal>::Ptr normals(new pcl::PointCloud <pcl::Normal>);
//calculate the normal of the point cloud.
NormalCalculation(cloud_ptr,normals);
//display point cloud.
displaycloud(cloud_ptr);
//display the normal of the point cloud.
displayNormal(cloud_ptr, normals);
//segmentation by region growing method.
segmented_cloud=RegionGrowingSegmentation(cloud_ptr,normals);
//display the segmented the cloud.
displaycloud(segmented_cloud);
return 0;
}
void EuclideanClustering::computeCentroidsOfClusters(
Vector4fVector& ret,
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
std::vector<pcl::PointIndices> cluster_indices)
{
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(cloud);
ret.resize(cluster_indices.size());
for (size_t i = 0; i < cluster_indices.size(); i++)
{
// build pointcloud
pcl::PointCloud<pcl::PointXYZ>::Ptr segmented_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointIndices::Ptr segmented_indices (new pcl::PointIndices);
for (size_t j = 0; j < cluster_indices[i].indices.size(); j++)
{
segmented_indices->indices.push_back(cluster_indices[i].indices[j]);
}
extract.setIndices(segmented_indices);
extract.filter(*segmented_cloud);
Eigen::Vector4f center;
pcl::compute3DCentroid(*segmented_cloud, center);
ret[i] = center;
}
}
