int main (int argc, char** argv)
{
PointCloudPtr_RGB cloudA (new PointCloud_RGB);
loadPointCloud_ply("data/scan_frame2.ply", cloudA);
PointCloudPtr_RGB cloudB (new PointCloud_RGB);
loadPointCloud_ply("data/scan_frame3.ply", cloudB);
PointCloudPtr_RGB planeCloudA(new PointCloud_RGB());
PointCloudPtr rect_cloudA(new PointCloud());
PointCloudPtr_RGB remainingCloudA(new PointCloud_RGB());
pcl::ModelCoefficients coefficientsA;
PointCloudPtr_RGB planeCloudB(new PointCloud_RGB());
PointCloudPtr rect_cloudB(new PointCloud());
PointCloudPtr_RGB remainingCloudB(new PointCloud_RGB());
pcl::ModelCoefficients coefficientsB;
detect_table(cloudA, coefficientsA, planeCloudA, rect_cloudA, remainingCloudA);
detect_table(cloudB, coefficientsB, planeCloudB, rect_cloudB, remainingCloudB);
/* showPointCloud(planeCloudA, "planeCloudA");
showPointCloud(remainingCloudA, "remainingCloudA");
showPointCloud(planeCloudB, "planeCloudB");
showPointCloud(remainingCloudB, "remainingCloudB");*/
Eigen::Matrix4f matrix_transformA;
Eigen::Matrix4f matrix_transformA_r;
Eigen::Matrix4f matrix_transformB;
Eigen::Matrix4f matrix_transformB_r;
getTemTransformMatrix(coefficientsA, matrix_transformA, matrix_transformA_r);
getTemTransformMatrix(coefficientsB, matrix_transformB, matrix_transformB_r);
PointCloudPtr_RGB tabletopCloudA(new PointCloud_RGB());
PointCloudPtr_RGB tabletopCloudB(new PointCloud_RGB());
getCloudOnTable(remainingCloudA, rect_cloudA, matrix_transformA, matrix_transformA_r, tabletopCloudA);
getCloudOnTable(remainingCloudB, rect_cloudB, matrix_transformB, matrix_transformB_r, tabletopCloudB);
//showPointCloud(tabletopCloudA, "tabletopCloudA");
//showPointCloud(tabletopCloudB, "tabletopCloudB");
PointCloudPtr_RGB resultA (new PointCloud_RGB);
PointCloudPtr_RGB resultB (new PointCloud_RGB);
detect_change(tabletopCloudA, tabletopCloudB, resultA, resultB);
showPointCloud(resultA, "resultA");
showPointCloud(resultB, "resultB");
}
void PointsFileSystem::showPointCloud(const std::string& filename)
{
QModelIndex index = this->index(QString(filename.c_str()));
if (!index.isValid())
return;
showPointCloud(index);
return;
}
void ObjectDetectionViewer::onPointCloudReceived(PointCloud<Point>::ConstPtr cloud) {
posix_time::ptime startTime = posix_time::microsec_clock::local_time();
Scene::Ptr scene = Scene::fromPointCloud(cloud, config);
Table::Collection detectedTables = tableDetector.detectTables(scene);
Object::Collection detectedObjects = objectDetector.detectObjects(scene, detectedTables);
{
mutex::scoped_lock(resultMutex);
this->detectedTables = detectedTables;
this->detectedObjects = detectedObjects;
}
posix_time::time_duration diff = posix_time::microsec_clock::local_time() - startTime;
processingTime = diff.total_milliseconds();
showPointCloud(scene->getFullPointCloud());
}
QModelIndex PointsFileSystem::setRootPath(const QString & root_path)
{
point_cloud_cache_map_.clear();
point_cloud_map_.clear();
checked_indexes_.clear();
QModelIndex index = FileSystemModel::setRootPath(root_path);
computeFrameRange();
if (start_frame_ != -1)
{
if (getPointCloud(start_frame_) != NULL)
showPointCloud(start_frame_);
}
MainWindow::getInstance()->getSceneWidget()->centerScene();
return index;
}
bool PointsFileSystem::setData(const QModelIndex &index, const QVariant &value, int role)
{
bool is_point_cloud = (filePath(index).right(3) == "pcd");
if(role == Qt::CheckStateRole)
{
if (is_point_cloud)
{
if(value == Qt::Checked)
showPointCloud(index);
else
hidePointCloud(index);
}
if(hasChildren(index) == true)
recursiveCheck(index, value);
emit dataChanged(index, index);
return true;
}
return FileSystemModel::setData(index, value, role);
}
void PointsFileSystem::showPointCloud(int frame)
{
showPointCloud(getPointsFilename(frame));
}
void PointCloudViewer::onPointCloudReceived(PointCloud<Point>::ConstPtr cloud) {
showPointCloud(cloud);
}
