void KinectRegistration::kinectCloudCallback( const sensor_msgs::PointCloud2ConstPtr &msg )
{
if( receive_point_cloud_ )
{
if( !first_point_cloud_ )
{
ROS_INFO("First PointCloud received");
PointCloud temp;
pcl::fromROSMsg( *msg, temp );
removeOutliers( temp, src_ );
first_point_cloud_ = true;
}
else
{
ROS_INFO("PointCloud received");
PointCloud temp, temp1;
pcl::fromROSMsg( *msg, temp );
removeOutliers( temp, tgt_ );
transformCloud(tgt_, temp, num_clouds_ * 40 );
temp1 = src_;
temp1 += temp;
downsample( temp1, temp );
pcl::toROSMsg( temp, cloud_msg_ );
registered_cloud_pub_.publish( cloud_msg_ );
src_ = temp1;
}
receive_point_cloud_ = false;
rotateRobotino();
num_clouds_++;
}
else
return;
}
bool
ossimOutlierRejection::execute()
{
if(!setupModel(theModelDefinitionString))
{
return false;
}
ossim_float64 variance_pix2;
if(removeOutliers(&variance_pix2, NULL)) //TBD : use target variance
{
//display RMS with unit
cout<<"RMS="<<std::sqrt(variance_pix2)<<" pixels"<<endl;
//export results
if(theGeomOutputFilename!="")
{
if(!exportModel(theGeomOutputFilename)) return false;
}
if(theInlierOutputFilename!="")
{
if(!saveGMLTieSet(theInlierOutputFilename)) return false;
}
}
else
{
return false;
}
return true;
}
std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> MovingObjectsIdentificator::identify() {
if(verbose) std::cout << "\nMoving Object Identification start" << std::endl;
findDifference();
removeOutliers();
if(verbose) std::cout << "Moving Object Identification end" << std::endl;
return extractClusters();
}
bool MakePlan::process(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_in, float a, float b, float c, float d, pcl::PointXYZRGB &avrPt)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_filtered_out (new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_filtered_nan (new pcl::PointCloud<pcl::PointXYZRGB>);
removeOutliers(cloud_in, cloud_filtered_out);
removeField(cloud_filtered_out, cloud_filtered_nan);
bool success = getAveragePoint(cloud_filtered_nan, avrPt);
return success;
}
void LVRMainWindow::connectSignalsAndSlots()
{
QObject::connect(m_actionOpen, SIGNAL(activated()), this, SLOT(loadModel()));
QObject::connect(m_actionExport, SIGNAL(activated()), this, SLOT(exportSelectedModel()));
QObject::connect(treeWidget, SIGNAL(customContextMenuRequested(const QPoint&)), this, SLOT(showTreeContextMenu(const QPoint&)));
QObject::connect(treeWidget, SIGNAL(itemClicked(QTreeWidgetItem*, int)), this, SLOT(restoreSliders(QTreeWidgetItem*, int)));
QObject::connect(treeWidget, SIGNAL(itemChanged(QTreeWidgetItem*, int)), this, SLOT(setModelVisibility(QTreeWidgetItem*, int)));
QObject::connect(m_actionQuit, SIGNAL(activated()), qApp, SLOT(quit()));
QObject::connect(m_actionShowColorDialog, SIGNAL(activated()), this, SLOT(showColorDialog()));
QObject::connect(m_actionRenameModelItem, SIGNAL(activated()), this, SLOT(renameModelItem()));
QObject::connect(m_actionDeleteModelItem, SIGNAL(activated()), this, SLOT(deleteModelItem()));
QObject::connect(m_actionExportModelTransformed, SIGNAL(activated()), this, SLOT(exportSelectedModel()));
QObject::connect(m_actionReset_Camera, SIGNAL(activated()), this, SLOT(updateView()));
QObject::connect(m_actionStore_Current_View, SIGNAL(activated()), this, SLOT(saveCamera()));
QObject::connect(m_actionRecall_Stored_View, SIGNAL(activated()), this, SLOT(loadCamera()));
QObject::connect(m_actionCameraPathTool, SIGNAL(activated()), this, SLOT(openCameraPathTool()));
QObject::connect(m_actionEstimate_Normals, SIGNAL(activated()), this, SLOT(estimateNormals()));
QObject::connect(m_actionMarching_Cubes, SIGNAL(activated()), this, SLOT(reconstructUsingMarchingCubes()));
QObject::connect(m_actionPlanar_Marching_Cubes, SIGNAL(activated()), this, SLOT(reconstructUsingPlanarMarchingCubes()));
QObject::connect(m_actionExtended_Marching_Cubes, SIGNAL(activated()), this, SLOT(reconstructUsingExtendedMarchingCubes()));
QObject::connect(m_actionPlanar_Optimization, SIGNAL(activated()), this, SLOT(optimizePlanes()));
QObject::connect(m_actionRemove_Artifacts, SIGNAL(activated()), this, SLOT(removeArtifacts()));
QObject::connect(m_actionRemove_Outliers, SIGNAL(activated()), this, SLOT(removeOutliers()));
QObject::connect(m_actionMLS_Projection, SIGNAL(activated()), this, SLOT(applyMLSProjection()));
QObject::connect(m_actionICP_Using_Manual_Correspondance, SIGNAL(activated()), this, SLOT(manualICP()));
QObject::connect(m_menuAbout, SIGNAL(triggered(QAction*)), this, SLOT(showAboutDialog(QAction*)));
QObject::connect(m_correspondanceDialog->m_dialog, SIGNAL(accepted()), m_pickingInteractor, SLOT(correspondenceSearchOff()));
QObject::connect(m_correspondanceDialog->m_dialog, SIGNAL(accepted()), this, SLOT(alignPointClouds()));
QObject::connect(m_correspondanceDialog->m_dialog, SIGNAL(rejected()), m_pickingInteractor, SLOT(correspondenceSearchOff()));
QObject::connect(m_correspondanceDialog, SIGNAL(addArrow(LVRVtkArrow*)), this, SLOT(addArrow(LVRVtkArrow*)));
QObject::connect(m_correspondanceDialog, SIGNAL(removeArrow(LVRVtkArrow*)), this, SLOT(removeArrow(LVRVtkArrow*)));
QObject::connect(m_correspondanceDialog, SIGNAL(disableCorrespondenceSearch()), m_pickingInteractor, SLOT(correspondenceSearchOff()));
QObject::connect(m_correspondanceDialog, SIGNAL(enableCorrespondenceSearch()), m_pickingInteractor, SLOT(correspondenceSearchOn()));
QObject::connect(m_actionShow_Points, SIGNAL(toggled(bool)), this, SLOT(togglePoints(bool)));
QObject::connect(m_actionShow_Normals, SIGNAL(toggled(bool)), this, SLOT(toggleNormals(bool)));
QObject::connect(m_actionShow_Mesh, SIGNAL(toggled(bool)), this, SLOT(toggleMeshes(bool)));
QObject::connect(m_actionShow_Wireframe, SIGNAL(toggled(bool)), this, SLOT(toggleWireframe(bool)));
QObject::connect(m_actionShowBackgroundSettings, SIGNAL(activated()), this, SLOT(showBackgroundDialog()));
QObject::connect(m_horizontalSliderPointSize, SIGNAL(valueChanged(int)), this, SLOT(changePointSize(int)));
QObject::connect(m_horizontalSliderTransparency, SIGNAL(valueChanged(int)), this, SLOT(changeTransparency(int)));
QObject::connect(m_comboBoxShading, SIGNAL(currentIndexChanged(int)), this, SLOT(changeShading(int)));
QObject::connect(m_buttonCameraPathTool, SIGNAL(pressed()), this, SLOT(openCameraPathTool()));
QObject::connect(m_buttonCreateMesh, SIGNAL(pressed()), this, SLOT(reconstructUsingMarchingCubes()));
QObject::connect(m_buttonExportData, SIGNAL(pressed()), this, SLOT(exportSelectedModel()));
QObject::connect(m_buttonTransformModel, SIGNAL(pressed()), this, SLOT(showTransformationDialog()));
QObject::connect(m_pickingInteractor, SIGNAL(firstPointPicked(double*)),m_correspondanceDialog, SLOT(firstPointPicked(double*)));
QObject::connect(m_pickingInteractor, SIGNAL(secondPointPicked(double*)),m_correspondanceDialog, SLOT(secondPointPicked(double*)));
QObject::connect(this, SIGNAL(correspondenceDialogOpened()), m_pickingInteractor, SLOT(correspondenceSearchOn()));
}
int
main (int argc, char ** argv)
{
if (argc < 2)
{
pcl::console::print_info ("Syntax is: %s input.pcd <options>\n", argv[0]);
pcl::console::print_info (" where options are:\n");
pcl::console::print_info (" -t min_depth,max_depth ............... Threshold depth\n");
pcl::console::print_info (" -d leaf_size ......................... Downsample\n");
pcl::console::print_info (" -r radius,min_neighbors ............... Radius outlier removal\n");
pcl::console::print_info (" -s output.pcd ......................... Save output\n");
return (1);
}
// Load the input file
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
// Threshold depth
double min_depth, max_depth;
bool threshold_depth = pcl::console::parse_2x_arguments (argc, argv, "-t", min_depth, max_depth) > 0;
if (threshold_depth)
{
size_t n = cloud->size ();
cloud = thresholdDepth (cloud, min_depth, max_depth);
pcl::console::print_info ("Eliminated %zu points outside depth limits\n", n - cloud->size ());
}
// Downsample and threshold depth
double leaf_size;
bool downsample_cloud = pcl::console::parse_argument (argc, argv, "-d", leaf_size) > 0;
if (downsample_cloud)
{
size_t n = cloud->size ();
cloud = downsample (cloud, leaf_size);
pcl::console::print_info ("Downsampled from %zu to %zu points\n", n, cloud->size ());
}
// Remove outliers
double radius, min_neighbors;
bool remove_outliers = pcl::console::parse_2x_arguments (argc, argv, "-r", radius, min_neighbors) > 0;
if (remove_outliers)
{
size_t n = cloud->size ();
cloud = removeOutliers (cloud, radius, (int)min_neighbors);
pcl::console::print_info ("Removed %zu outliers\n", n - cloud->size ());
}
// Save output
std::string output_filename;
bool save_cloud = pcl::console::parse_argument (argc, argv, "-s", output_filename) > 0;
if (save_cloud)
{
pcl::io::savePCDFile (output_filename, *cloud);
pcl::console::print_info ("Saved result as %s\n", output_filename.c_str ());
}
// Or visualize the result
else
{
pcl::console::print_info ("Starting visualizer... Close window to exit.\n");
pcl::visualization::PCLVisualizer vis;
vis.addPointCloud (cloud);
vis.resetCamera ();
vis.spin ();
}
return (0);
}
void LVRRemoveOutliersDialog::connectSignalsAndSlots()
{
QObject::connect(m_dialog->buttonBox, SIGNAL(accepted()), this, SLOT(removeOutliers()));
}
