int
main(int argc, char** argv)
{
// Objects for storing the point clouds.
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudA(new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudB(new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudC(new pcl::PointCloud<pcl::PointXYZRGBA>);
// Read two PCD files from disk.
if (pcl::io::loadPCDFile<pcl::PointXYZRGBA>(argv[1], *cloudA) != 0)
{
return -1;
}
if (pcl::io::loadPCDFile<pcl::PointXYZRGBA>(argv[2], *cloudB) != 0)
{
return -1;
}
// Create cloud "C", with the points of both "A" and "B".
*cloudC = (*cloudA) + (*cloudB);
// Now cloudC->points.size() equals cloudA->points.size() + cloudB->points.size().
pcl::io::savePCDFileBinary ("concat.pcd", *cloudC);
}
int
main (int argc, char** argv)
{
srand ((unsigned int) time (NULL));
// Octree resolution - side length of octree voxels
float resolution = 32.0f;
// Instantiate octree-based point cloud change detection class
pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZ> octree (resolution);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA (new pcl::PointCloud<pcl::PointXYZ> );
// Generate pointcloud data for cloudA
cloudA->width = 128;
cloudA->height = 1;
cloudA->points.resize (cloudA->width * cloudA->height);
for (size_t i = 0; i < cloudA->points.size (); ++i)
{
cloudA->points[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudA->points[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudA->points[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
}
// Add points from cloudA to octree
octree.setInputCloud (cloudA);
octree.addPointsFromInputCloud ();
// Switch octree buffers: This resets octree but keeps previous tree structure in memory.
octree.switchBuffers ();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudB (new pcl::PointCloud<pcl::PointXYZ> );
// Generate pointcloud data for cloudB
cloudB->width = 128;
cloudB->height = 1;
cloudB->points.resize (cloudB->width * cloudB->height);
for (size_t i = 0; i < cloudB->points.size (); ++i)
{
cloudB->points[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudB->points[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudB->points[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
}
// Add points from cloudB to octree
octree.setInputCloud (cloudB);
octree.addPointsFromInputCloud ();
std::vector<int> newPointIdxVector;
// Get vector of point indices from octree voxels which did not exist in previous buffer
octree.getPointIndicesFromNewVoxels (newPointIdxVector);
// Output points
std::cout << "Output from getPointIndicesFromNewVoxels:" << std::endl;
for (size_t i = 0; i < newPointIdxVector.size (); ++i)
std::cout << i << "# Index:" << newPointIdxVector[i]
<< " Point:" << cloudB->points[newPointIdxVector[i]].x << " "
<< cloudB->points[newPointIdxVector[i]].y << " "
<< cloudB->points[newPointIdxVector[i]].z << std::endl;
}
int
main (int argc, char** argv)
{
srand ((unsigned int) time (NULL));
time_t start, end;
double dift;
float resolution = 5.0f;
pcl::SegmentDifferences<PointT> sd;
pcl::PointCloud<PointT>::Ptr cloudA (new pcl::PointCloud<PointT>);
time(&start);
cloudA->width = 128;
cloudA->height = 1;
cloudA->points.resize (cloudA->width * cloudA->height);
for (size_t i = 0; i < cloudA->points.size (); ++i)
{
cloudA->points[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudA->points[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudA->points[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudA->points[i].intensity = rand () / 255 + 1.0f;
}
time(&end);
dift = difftime (end,start);
std::cout<<"It took "<<dift<<" secs to read in the first point cloud"<<std::endl;
pcl::PointCloud<PointT>::Ptr cloudB (new pcl::PointCloud<PointT>);
time(&start);
cloudB->width = 128;
cloudB->height = 1;
cloudB->points.resize (cloudB->width * cloudB->height);
for (size_t i = 0; i < cloudB->points.size (); ++i)
{
cloudB->points[i].x = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudB->points[i].y = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudB->points[i].z = 64.0f * rand () / (RAND_MAX + 1.0f);
cloudB->points[i].intensity = rand () / 255 + 1.0f;
}
time(&end);
dift = difftime (end,start);
std::cout<<"It took "<<dift<<" secs to read in the second point cloud"<<std::endl;
pcl::PointCloud<PointT> cloudC;
cloudC.width = 0;
cloudC.height = 0;
cloudC.points.resize (cloudC.width * cloudC.height);
pcl::search::KdTree<PointT>::Ptr kdtree(new pcl::search::KdTree<PointT>);
kdtree->setInputCloud(cloudB);
sd.setDistanceThreshold (resolution);
sd.setInputCloud (cloudA);
sd.setTargetCloud (cloudB);
sd.setSearchMethod (kdtree);
sd.segmentInt (cloudC);
std::cout<<"The points in cloudC are "<<std::endl;
for (size_t i = 0; i < cloudC.points.size (); ++i)
{
std::cout<<cloudC.points[i].x<<" "<<cloudC.points[i].y<<" "<<cloudC.points[i].z<<" "<<cloudC.points[i].intensity<<std::endl;
}
system("pause");
}
