void Mapper::viewer()
{
pcl::visualization::CloudViewer viewer("viewer");
PointCloud::Ptr globalMap (new PointCloud);
pcl::VoxelGrid<PointT> voxel;
voxel.setLeafSize( resolution, resolution, resolution );
while (shutdownFlag == false)
{
static int cntGlobalUpdate = 0;
if ( poseGraph.keyframes.size() <= this->keyframe_size )
{
usleep(1000);
continue;
}
// keyframe is updated
PointCloud::Ptr tmp(new PointCloud());
if (cntGlobalUpdate % 15 == 0)
{
// update all frames
cout<<"redrawing frames"<<endl;
globalMap->clear();
for ( int i=0; i<poseGraph.keyframes.size(); i+=2 )
{
PointCloud::Ptr cloud = this->generatePointCloud(poseGraph.keyframes[i]);
*globalMap += *cloud;
}
}
else
{
for ( int i=poseGraph.keyframes.size()-1; i>=0 && i>poseGraph.keyframes.size()-6; i-- )
{
PointCloud::Ptr cloud = this->generatePointCloud(poseGraph.keyframes[i]);
*globalMap += *cloud;
}
}
cntGlobalUpdate ++ ;
//voxel
voxel.setInputCloud( globalMap );
voxel.filter( *tmp );
keyframe_size = poseGraph.keyframes.size();
globalMap->swap( *tmp );
viewer.showCloud( globalMap );
cout<<"points in global map: "<<globalMap->points.size()<<endl;
}
}
int main(int argC,char **argV)
{
ros::init(argC,argV,"startPointCloud");
ros::NodeHandle n;
std::string serverAddress;
n.getParam("/serverNameOrIP",serverAddress);
Socket mySocket(serverAddress.c_str(),"9005",streamSize);
ros::Publisher pub = n.advertise<PointCloud>("point_cloud",1);
PointCloud::Ptr pc (new PointCloud);
pc->header.frame_id = ros::this_node::getNamespace().substr(1,std::string::npos) + "/kinect_pcl";
while(ros::ok())
{
// TODO(Somhtr): change to ROS' logging API
cout << "Reading data..." << endl;
mySocket.readData();
// TODO(Somhtr): change to ROS' logging API
cout << "Copying data..." << endl;
float* pt_coords = reinterpret_cast<float*>(mySocket.mBuffer);
for(uint64_t idx=0; idx<numberOfPoints; idx+=3)
{
pc->push_back(pcl::PointXYZ(
pt_coords[idx], pt_coords[idx+1], pt_coords[idx+2]
));
}
double utcTime;
memcpy(&utcTime,&mySocket.mBuffer[pointBufferSize],sizeof(double));
pc->header.stamp = ros::Time(utcTime).toSec();
pub.publish(pc);
pc->clear();
ros::spinOnce();
}
return 0;
}
void WorldDownloadManager::mergePointCloudsAndMesh(std::vector<PointCloud::Ptr> &pointclouds,
PointCloud::Ptr out_cloud, std::vector<TrianglesPtr> * meshes,Triangles * out_mesh)
{
uint offset = 0;
const uint pointcloud_count = pointclouds.size();
out_cloud->clear();
if (out_mesh)
out_mesh->clear();
for (uint pointcloud_i = 0; pointcloud_i < pointcloud_count; pointcloud_i++)
{
const uint pointcloud_size = pointclouds[pointcloud_i]->size();
// copy the points
(*out_cloud) += *(pointclouds[pointcloud_i]);
if (out_mesh)
{
// copy the triangles, shifting vertex id by an offset
const uint mesh_size = (*meshes)[pointcloud_i]->size();
out_mesh->reserve(out_mesh->size() + mesh_size);
for (uint triangle_i = 0; triangle_i < mesh_size; triangle_i++)
{
kinfu_msgs::KinfuMeshTriangle tri;
const kinfu_msgs::KinfuMeshTriangle & v = (*(*meshes)[pointcloud_i])[triangle_i];
for (uint i = 0; i < 3; i++)
tri.vertex_id[i] = v.vertex_id[i] + offset;
out_mesh->push_back(tri);
}
offset += pointcloud_size;
}
}
}
void WorldDownloadManager::cropMesh(const kinfu_msgs::KinfuCloudPoint & min,
const kinfu_msgs::KinfuCloudPoint & max,PointCloud::ConstPtr cloud,
TrianglesConstPtr triangles,PointCloud::Ptr out_cloud,TrianglesPtr out_triangles)
{
const uint triangles_size = triangles->size();
const uint cloud_size = cloud->size();
std::vector<bool> valid_points(cloud_size,true);
std::vector<uint> valid_points_remap(cloud_size,0);
std::cout << "Starting with " << cloud_size << " points and " << triangles_size << " triangles.\n";
uint offset;
// check the points
for (uint i = 0; i < cloud_size; i++)
{
const pcl::PointXYZ & pt = (*cloud)[i];
if (pt.x > max.x || pt.y > max.y || pt.z > max.z ||
pt.x < min.x || pt.y < min.y || pt.z < min.z)
valid_points[i] = false;
}
// discard invalid points
out_cloud->clear();
out_cloud->reserve(cloud_size);
offset = 0;
for (uint i = 0; i < cloud_size; i++)
if (valid_points[i])
{
out_cloud->push_back((*cloud)[i]);
// save new position for triangles remap
valid_points_remap[i] = offset;
offset++;
}
out_cloud->resize(offset);
// discard invalid triangles
out_triangles->clear();
out_triangles->reserve(triangles_size);
offset = 0;
for (uint i = 0; i < triangles_size; i++)
{
const kinfu_msgs::KinfuMeshTriangle & tri = (*triangles)[i];
bool is_valid = true;
// validate all the vertices
for (uint h = 0; h < 3; h++)
if (!valid_points[tri.vertex_id[h]])
{
is_valid = false;
break;
}
if (is_valid)
{
kinfu_msgs::KinfuMeshTriangle out_tri;
// remap the triangle
for (uint h = 0; h < 3; h++)
out_tri.vertex_id[h] = valid_points_remap[(*triangles)[i].vertex_id[h]];
out_triangles->push_back(out_tri);
offset++;
}
}
out_triangles->resize(offset);
std::cout << "Ended with " << out_cloud->size() << " points and " << out_triangles->size() << " triangles.\n";
}