int LoadPCD::compute()
{
//for each selected filename
for (int k = 0; k < m_filenames.size(); ++k)
{
QString filename = m_filenames[k];
boost::shared_ptr<PCLCloud> cloud_ptr_in = loadSensorMessage(filename);
if (!cloud_ptr_in) //loading failed?
return 0;
PCLCloud::Ptr cloud_ptr;
if (!cloud_ptr_in->is_dense) //data may contain nans. Remove them
{
//now we need to remove nans
pcl::PassThrough<PCLCloud> passFilter;
passFilter.setInputCloud(cloud_ptr_in);
cloud_ptr = PCLCloud::Ptr(new PCLCloud);
passFilter.filter(*cloud_ptr);
}
else
{
cloud_ptr = cloud_ptr_in;
}
ccPointCloud* out_cloud = sm2ccConverter(cloud_ptr).getCCloud();
if (!out_cloud)
return -31;
QString cloud_name = QFileInfo(filename).baseName();
out_cloud->setName(cloud_name);
QFileInfo fi(filename);
QString containerName = QString("%1 (%2)").arg(fi.fileName()).arg(fi.absolutePath());
ccHObject* cloudContainer = new ccHObject(containerName);
assert(out_cloud);
cloudContainer->addChild(out_cloud);
emit newEntity(cloudContainer);
}
return 1;
}
int ExtractSIFT::compute()
{
ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
if (!cloud)
return -1;
PCLCloud::Ptr sm_cloud (new PCLCloud);
std::vector<std::string> req_fields;
req_fields.resize(2);
req_fields[0] = "xyz"; // always needed
switch (m_mode)
{
case RGB:
req_fields[1] = "rgb";
break;
case SCALAR_FIELD:
req_fields[1] = m_field_to_use;
break;
}
cc2smReader converter;
converter.setInputCloud(cloud);
converter.getAsSM(req_fields, *sm_cloud);
//Now change the name of the field to use to a standard name, only if in OTHER_FIELD mode
if (m_mode == SCALAR_FIELD)
{
int field_index = pcl::getFieldIndex(*sm_cloud, m_field_to_use_no_space);
sm_cloud->fields.at(field_index).name = "intensity"; //we always use intensity as name... even if it is curvature or another field.
}
//initialize all possible clouds
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_i (new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_rgb (new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud (new pcl::PointCloud<pcl::PointXYZ>);
//Now do the actual computation
if (m_mode == SCALAR_FIELD)
{
FROM_PCL_CLOUD(*sm_cloud, *cloud_i);
estimateSIFT<pcl::PointXYZI, pcl::PointXYZ>(cloud_i, out_cloud, m_nr_octaves, m_min_scale, m_nr_scales_per_octave, m_min_contrast );
}
else if (m_mode == RGB)
{
FROM_PCL_CLOUD(*sm_cloud, *cloud_rgb);
estimateSIFT<pcl::PointXYZRGB, pcl::PointXYZ>(cloud_rgb, out_cloud, m_nr_octaves, m_min_scale, m_nr_scales_per_octave, m_min_contrast );
}
PCLCloud::Ptr out_cloud_sm (new PCLCloud);
TO_PCL_CLOUD(*out_cloud, *out_cloud_sm);
if ( (out_cloud_sm->height * out_cloud_sm->width) == 0)
{
//cloud is empty
return -53;
}
ccPointCloud* out_cloud_cc = sm2ccConverter(out_cloud_sm).getCCloud();
if (!out_cloud_cc)
{
//conversion failed (not enough memory?)
return -1;
}
std::stringstream name;
if (m_mode == RGB)
name << "SIFT Keypoints_" << m_nr_octaves << "_" << "rgb" << "_" << m_min_scale << "_" << m_nr_scales_per_octave << "_" << m_min_contrast;
else
name << "SIFT Keypoints_" << m_nr_octaves << "_" << m_field_to_use_no_space << "_" << m_min_scale << "_" << m_nr_scales_per_octave << "_" << m_min_contrast;
out_cloud_cc->setName(name.str().c_str());
out_cloud_cc->setDisplay(cloud->getDisplay());
if (cloud->getParent())
cloud->getParent()->addChild(out_cloud_cc);
emit newEntity(out_cloud_cc);
return 1;
}
int LoadPCD::compute()
{
//for each selected filename
for (int k = 0; k < m_filenames.size(); ++k)
{
Eigen::Vector4f origin;
Eigen::Quaternionf orientation;
QString filename = m_filenames[k];
boost::shared_ptr<PCLCloud> cloud_ptr_in = loadSensorMessage(filename, origin, orientation);
if (!cloud_ptr_in) //loading failed?
return 0;
PCLCloud::Ptr cloud_ptr;
if (!cloud_ptr_in->is_dense) //data may contain nans. Remove them
{
//now we need to remove nans
pcl::PassThrough<PCLCloud> passFilter;
passFilter.setInputCloud(cloud_ptr_in);
cloud_ptr = PCLCloud::Ptr(new PCLCloud);
passFilter.filter(*cloud_ptr);
}
else
{
cloud_ptr = cloud_ptr_in;
}
//now we construct a ccGBLSensor with these characteristics
ccGBLSensor * sensor = new ccGBLSensor;
// get orientation as rot matrix
Eigen::Matrix3f eigrot = orientation.toRotationMatrix();
// and copy it into a ccGLMatrix
ccGLMatrix ccRot;
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
ccRot.getColumn(j)[i] = eigrot(i,j);
}
}
ccRot.getColumn(3)[3] = 1.0;
// now in a format good for CloudComapre
//ccGLMatrix ccRot = ccGLMatrix::FromQuaternion(orientation.coeffs().data());
//ccRot = ccRot.transposed();
ccRot.setTranslation(origin.data());
sensor->setRigidTransformation(ccRot);
sensor->setDeltaPhi(static_cast<PointCoordinateType>(0.05));
sensor->setDeltaTheta(static_cast<PointCoordinateType>(0.05));
sensor->setVisible(true);
//uncertainty to some default
sensor->setUncertainty(static_cast<PointCoordinateType>(0.01));
ccPointCloud* out_cloud = sm2ccConverter(cloud_ptr).getCloud();
if (!out_cloud)
return -31;
sensor->setGraphicScale(out_cloud->getBB().getDiagNorm() / 10);
//do the projection on sensor
ccGenericPointCloud* cloud = ccHObjectCaster::ToGenericPointCloud(out_cloud);
int errorCode;
CCLib::SimpleCloud* projectedCloud = sensor->project(cloud,errorCode,true);
if (projectedCloud)
{
//DGM: we don't use it but we still have to delete it!
delete projectedCloud;
projectedCloud = 0;
}
QString cloud_name = QFileInfo(filename).baseName();
out_cloud->setName(cloud_name);
QFileInfo fi(filename);
QString containerName = QString("%1 (%2)").arg(fi.fileName()).arg(fi.absolutePath());
ccHObject* cloudContainer = new ccHObject(containerName);
out_cloud->addChild(sensor);
cloudContainer->addChild(out_cloud);
emit newEntity(cloudContainer);
}
return 1;
}
int MLSSmoothingUpsampling::compute()
{
//pointer to selected cloud
ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
if (!cloud)
return -1;
//get xyz in sensor_msgs format
cc2smReader converter;
converter.setInputCloud(cloud);
//take out the xyz info
sensor_msgs::PointCloud2 sm_xyz = converter.getXYZ();
sensor_msgs::PointCloud2 sm_cloud;
//take out the current scalar field (if any)
if (cloud->getCurrentDisplayedScalarField())
{
const char* current_sf_name = cloud->getCurrentDisplayedScalarField()->getName();
sensor_msgs::PointCloud2 sm_field = converter.getFloatScalarField(current_sf_name);
//change its name
std::string new_name = "scalar";
sm_field.fields[0].name = new_name.c_str();
//put everithing together
pcl::concatenateFields(sm_xyz, sm_field, sm_cloud);
}
else
{
sm_cloud = sm_xyz;
}
//get as pcl point cloud
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(sm_cloud, *pcl_cloud);
//create storage for outcloud
pcl::PointCloud<pcl::PointNormal>::Ptr normals (new pcl::PointCloud<pcl::PointNormal>);
#ifdef LP_PCL_PATCH_ENABLED
pcl::PointIndicesPtr mapping_indices;
smooth_mls<pcl::PointXYZ, pcl::PointNormal> (pcl_cloud, *m_parameters, normals, mapping_indices);
#else
smooth_mls<pcl::PointXYZ, pcl::PointNormal> (pcl_cloud, *m_parameters, normals);
#endif
sensor_msgs::PointCloud2::Ptr sm_normals (new sensor_msgs::PointCloud2);
pcl::toROSMsg(*normals, *sm_normals);
ccPointCloud* new_cloud = sm2ccConverter(sm_normals).getCCloud();
if (!new_cloud)
{
//conversion failed (not enough memory?)
return -1;
}
new_cloud->setName(cloud->getName()+QString("_smoothed")); //original name + suffix
new_cloud->setDisplay(cloud->getDisplay());
#ifdef LP_PCL_PATCH_ENABLED
//copy the original scalar fields here
copyScalarFields(cloud, new_cloud, mapping_indices, true);
#endif
//disable original cloud
cloud->setEnabled(false);
if (cloud->getParent())
cloud->getParent()->addChild(new_cloud);
emit newEntity(new_cloud);
return 1;
}
int ExtractSIFT::compute()
{
ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
if (!cloud)
return -1;
std::list<std::string> req_fields;
try
{
req_fields.push_back("xyz"); // always needed
switch (m_mode)
{
case RGB:
req_fields.push_back("rgb");
break;
case SCALAR_FIELD:
req_fields.push_back(qPrintable(m_field_to_use)); //DGM: warning, toStdString doesn't preserve "local" characters
break;
default:
assert(false);
break;
}
}
catch (const std::bad_alloc&)
{
//not enough memory
return -1;
}
PCLCloud::Ptr sm_cloud = cc2smReader(cloud).getAsSM(req_fields);
if (!sm_cloud)
return -1;
//Now change the name of the field to use to a standard name, only if in OTHER_FIELD mode
if (m_mode == SCALAR_FIELD)
{
int field_index = pcl::getFieldIndex(*sm_cloud, m_field_to_use_no_space);
sm_cloud->fields.at(field_index).name = "intensity"; //we always use intensity as name... even if it is curvature or another field.
}
//initialize all possible clouds
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_i (new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_rgb (new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud (new pcl::PointCloud<pcl::PointXYZ>);
//Now do the actual computation
if (m_mode == SCALAR_FIELD)
{
FROM_PCL_CLOUD(*sm_cloud, *cloud_i);
estimateSIFT<pcl::PointXYZI, pcl::PointXYZ>(cloud_i, out_cloud, m_nr_octaves, m_min_scale, m_nr_scales_per_octave, m_min_contrast );
}
else if (m_mode == RGB)
{
FROM_PCL_CLOUD(*sm_cloud, *cloud_rgb);
estimateSIFT<pcl::PointXYZRGB, pcl::PointXYZ>(cloud_rgb, out_cloud, m_nr_octaves, m_min_scale, m_nr_scales_per_octave, m_min_contrast );
}
PCLCloud::Ptr out_cloud_sm (new PCLCloud);
TO_PCL_CLOUD(*out_cloud, *out_cloud_sm);
if ( out_cloud_sm->height * out_cloud_sm->width == 0)
{
//cloud is empty
return -53;
}
ccPointCloud* out_cloud_cc = sm2ccConverter(out_cloud_sm).getCloud();
if (!out_cloud_cc)
{
//conversion failed (not enough memory?)
return -1;
}
std::stringstream name;
if (m_mode == RGB)
name << "SIFT Keypoints_" << m_nr_octaves << "_" << "rgb" << "_" << m_min_scale << "_" << m_nr_scales_per_octave << "_" << m_min_contrast;
else
name << "SIFT Keypoints_" << m_nr_octaves << "_" << m_field_to_use_no_space << "_" << m_min_scale << "_" << m_nr_scales_per_octave << "_" << m_min_contrast;
out_cloud_cc->setName(name.str().c_str());
out_cloud_cc->setDisplay(cloud->getDisplay());
//copy global shift & scale
out_cloud_cc->setGlobalScale(cloud->getGlobalScale());
out_cloud_cc->setGlobalShift(cloud->getGlobalShift());
if (cloud->getParent())
cloud->getParent()->addChild(out_cloud_cc);
emit newEntity(out_cloud_cc);
return 1;
}
