int main(int argc, char *argv[])
{
QApplication a(argc, argv);
Visualizer w;
w.show();
return a.exec();
}
void MainWindow::viewAlignment(QModelIndex index)
{
Alignment *alignment = (*alignments)[index.row()];
Visualizer *visualizer = new Visualizer(alignment);
visualizer->show();
}
int main (int argc, char *argv[])
{
Visualizer vs;
vs.viewer->removeAllPointClouds();
vs.viewer->removeCoordinateSystem();
vs.viewer->setBackgroundColor(0,0,0);
PointCloudPtr_RGB cloud(new PointCloud_RGB);
NormalCloudTPtr normals(new NormalCloudT);
//loadPointCloud_ply("data/scene0.ply", cloud);
//loadPointCloud_ply("data/scene1.ply", cloud);
//loadPointCloud_ply("data/big_table_after.ply", cloud);
loadPointCloud_ply("data/two_tables.ply", cloud);
//loadPointCloud_ply("data/hui_room.ply", cloud);
/******************detect floor and wall************************/
MyPointCloud_RGB floor_cloud;
pcl::ModelCoefficients floor_coefficients;
MyPointCloud floor_rect_cloud;
vector<MyPointCloud_RGB> wall_clouds;
std::vector<MyPointCloud> wall_rect_clouds;
PointCloudPtr_RGB remained_cloud(new PointCloud_RGB);
detect_floor_and_walls(cloud, floor_cloud, floor_coefficients, floor_rect_cloud, wall_clouds, wall_rect_clouds, remained_cloud);
if(floor_cloud.mypoints.size()>0){
Eigen::Matrix4f matrix_transform;
Eigen::Matrix4f matrix_translation_r;
Eigen::Matrix4f matrix_transform_r;
getTemTransformMatrix(floor_coefficients, floor_rect_cloud, matrix_transform, matrix_translation_r, matrix_transform_r);
PointCloudPtr_RGB filter_remained_cloud(new PointCloud_RGB);
remove_outliers(remained_cloud, floor_rect_cloud, wall_rect_clouds, matrix_transform, matrix_translation_r, matrix_transform_r, filter_remained_cloud, vs);
//vs.viewer->addPointCloud(filter_remained_cloud,"filter_remained_cloud");
PointCloudPtr_RGB new_remained_cloud(new PointCloud_RGB);
PointCloud_RGB ct;
pcl::copyPointCloud(*filter_remained_cloud,ct);
pcl::transformPointCloud (ct, *new_remained_cloud, matrix_transform);
/******************pre-segment scene************************/
std::vector<MyPointCloud> sum_support_clouds;
std::vector<MyPointCloud> sum_separation_rect_clouds;
pre_segment_scene(new_remained_cloud, sum_support_clouds, sum_separation_rect_clouds);
/******************segment scene************************/
vector<MyPointCloud> clustering_cloud;
segment_scene(new_remained_cloud, sum_support_clouds, sum_separation_rect_clouds, clustering_cloud, vs);
for(int i = 0; i < clustering_cloud.size(); i++){
PointCloudPtr_RGB clustering_color_cloud(new PointCloud_RGB);
MyPointCloud mpc=clustering_cloud.at(i);
for(int j = 0;j < mpc.mypoints.size(); j++){
Point_RGB pt;
pt.x=mpc.mypoints.at(j).x;
pt.y=mpc.mypoints.at(j).y;
pt.z=mpc.mypoints.at(j).z;
pt.r=new_color_table[i%30][0];
pt.g=new_color_table[i%30][1];
pt.b=new_color_table[i%30][2];
clustering_color_cloud->push_back(pt);
}
std::stringstream st;
st<<"clustering_color_cloud"<<i;
std::string id_str=st.str();
vs.viewer->addPointCloud(clustering_color_cloud,id_str);
}
vs.show();
}
return 0;
}
