C++ (Cpp) ORROctree::buildの例

コード例 #1

ファイル: obj_rec_ransac_orr_octree_zprojection.cpp プロジェクト: 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));
  }
}

コード例 #2

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> ());
    PointCloud<Normal>::Ptr normals_in (new PointCloud<Normal> ());
    PointCloud<Normal>::Ptr normals_out (new PointCloud<Normal> ());

    // Get the points and normals from the input vtk file
#ifdef _SHOW_OCTREE_NORMALS_
    if ( !vtk_to_pointcloud (file_name, *points_in, &(*normals_in)) )
        return;
#else
    if ( !vtk_to_pointcloud (file_name, *points_in, NULL) )
        return;
#endif

    // Build the octree with the desired resolution
    ORROctree octree;
    if ( normals_in->size () )
        octree.build (*points_in, voxel_size, &*normals_in);
    else
        octree.build (*points_in, voxel_size);

    // Get the first full leaf in the octree (arbitrary order)
    std::vector<ORROctree::Node*>::iterator leaf = octree.getFullLeaves ().begin ();

    // Get the average points in every full octree leaf
    octree.getFullLeavesPoints (*points_out);
    // Get the average normal at the points in each leaf
    if ( normals_in->size () )
        octree.getNormalsOfFullLeaves (*normals_out);

    // The visualizer
    PCLVisualizer viz;

    // Register a keyboard callback
    CallbackParameters params(octree, viz, leaf);
    viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (&params));

    // Add the point clouds
    viz.addPointCloud (points_in, "cloud in");
    viz.addPointCloud (points_out, "cloud out");
    if ( normals_in->size () )
        viz.addPointCloudNormals<PointXYZ,Normal> (points_out, normals_out, 1, 6.0f, "normals 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");

    // Convert the octree to a VTK poly-data object
//  show_octree(&octree, viz, true/*show full leaves only*/);

    updateViewer (octree, viz, leaf);

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