//extract indices of largest planar component
pcl::PointIndices::Ptr extractIndicesPCD(pcl::PointCloud<pcl::PointXYZ>::Ptr pcd_t){
pcl::PointCloud<pcl::PointXYZ>::Ptr pcd(new pcl::PointCloud<pcl::PointXYZ>());
(*pcd) = (*pcd_t); //devo fare una copia altrimenti filtro l'originale
pcl::ExtractIndices<pcl::PointXYZ> extract;
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
pcl::SACSegmentation<pcl::PointXYZ> seg;
seg.setOptimizeCoefficients (true);
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (500);
seg.setDistanceThreshold (0.01);
// Segment the largest planar component from the remaining cloud
seg.setInputCloud (pcd);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
{
std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
}
// Extract the inliers
extract.setInputCloud (pcd);
extract.setIndices (inliers);
extract.setNegative (false);
extract.filter (*pcd);
return inliers;
}
clams::Cloud::Ptr clams::StreamSequenceBase::getCloud(double timestamp, double* dt) const
{
Cloud::Ptr pcd(new Cloud);
Frame frame;
readFrame(timestamp, dt, &frame);
proj_.frameToCloud(frame, pcd.get());
return pcd;
}
clams::Cloud::Ptr clams::StreamSequenceBase::getCloud(size_t idx) const
{
Cloud::Ptr pcd(new Cloud);
Frame frame;
readFrame(idx, &frame);
proj_.frameToCloud(frame, pcd.get());
return pcd;
}
/* PaletteEntryPanel::colourise
* Colourises the colours of the current palette
*******************************************************************/
bool PaletteEntryPanel::colourise()
{
Palette8bit* pal = new Palette8bit;
if (pal == NULL) return false;
pal->copyPalette(palettes[cur_palette]);
PaletteColouriseDialog pcd(theMainWindow, pal);
if (pcd.ShowModal() == wxID_OK)
{
palettes[cur_palette]->copyPalette(pcd.getFinalPalette());
showPalette(cur_palette);
setModified();
}
delete pal;
return true;
}
