int main(int argc, char **argv){
if (argc < 2){
printf("Error: Debe especificar un archivo .pcd\n");
exit(1);
}
// Cargar nube de puntos
PointCloud::Ptr cloud (new PointCloud), cloud_filt (new PointCloud);
pcl::io::loadPCDFile(argv[1],*cloud);
// Crear filtro. Remueve todos los puntos que se salen del campo especificado.
// En este caso, quita puntos tales que "z" está fuera de [0,1.1].
// Se puede setear como filtro inverso con pass.setFilterLimitsNegative (true);
/* pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud(cloud);
pass.setFilterFieldName("z");
pass.setFilterLimits(0, 5);
pass.setFilterLimitsNegative (true);
pass.filter (*cloud_filt);*/
// Crear convex hull alrededor den nube
PointCloud::Ptr hull(new PointCloud);
pcl::ConcaveHull<pcl::PointXYZ> chull;
chull.setInputCloud(cloud);
chull.setAlpha(0.1);
chull.reconstruct(*hull);
// Crear visualizador
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = simpleVis(hull);
while (!viewer->wasStopped()){
viewer->spinOnce(100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
int main(int argc, char **argv){
if (argc < 2){
printf("Error: Debe especificar un archivo .pcd\n");
exit(1);
}
// Cargar nube de puntos
PointCloud::Ptr cloud (new PointCloud);
pcl::io::loadPCDFile(argv[1],*cloud);
// Crear visualizador
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = simpleVis(cloud);
// Segmentar
segmentator.setOptimizeCoefficients(true);
segmentator.setModelType(pcl::SACMODEL_PLANE);
segmentator.setMethodType(pcl::SAC_RANSAC);
segmentator.setDistanceThreshold(SEG_THRESHOLD);
segmentator.setInputCloud(cloud);
pcl::ModelCoefficients::Ptr coefs (new pcl::ModelCoefficients());
pcl::PointIndices::Ptr inliers (new pcl::PointIndices());
segmentator.segment(*inliers,*coefs);
// Ver qué se obtuvo
printf("Se obtienen %d puntos\n",(int)inliers->indices.size());
if (inliers->indices.size() == 0){
printf("Segmentación no sirvió de nada.\n");
exit(1);
}
viewer->addPlane(*coefs, "planito");
// Obtener centroide y dibujarlo
Eigen::Vector4f centroid;
compute3DCentroid(*cloud,centroid);
viewer->addSphere(pcl::PointXYZ(centroid(0),centroid(1),centroid(2)), 0.2, "centroide");
// Dibujar un plano en el viewer para indicar más menos qué se obtuvo
// http://docs.pointclouds.org/trunk/classpcl_1_1visualization_1_1_p_c_l_visualizer.html
while (!viewer->wasStopped()){
viewer->spinOnce(100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_s);
ransac.setDistanceThreshold (.01);
ransac.computeModel();
ransac.getInliers(inliers);
}
// copies all inliers of the model computed to another PointCloud
pcl::copyPointCloud<pcl::PointXYZ>(*cloud, inliers, *final);
// creates the visualization object and adds either our orignial cloud or all of the inliers
// depending on the command line arguments specified.
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
if (pcl::console::find_argument (argc, argv, "-f") >= 0 || pcl::console::find_argument (argc, argv, "-sf") >= 0)
viewer = simpleVis(final);
else
viewer = simpleVis(cloud);
setView1(*viewer);
while (!viewer->wasStopped ())
{
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
return 0;
}
//3708.61,6955.86/562.042,697.162,-373.087/5490.76,-774.724,-581.186/0.235781,0.693242,0.681045/0.523599/777,520/0,0
void setView1(pcl::visualization::PCLVisualizer& viewer)
// --------------
// -----Main-----
// --------------
int
main (int argc, char** argv)
{
// --------------------------------------
// -----Parse Command Line Arguments-----
// --------------------------------------
if (pcl::console::find_argument (argc, argv, "-h") >= 0)
{
printUsage (argv[0]);
return 0;
}
bool simple(false), rgb(false), custom_c(false), normals(false),
shapes(false), viewports(false), interaction_customization(false);
if (pcl::console::find_argument (argc, argv, "-s") >= 0)
{
simple = true;
std::cout << "Simple visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-c") >= 0)
{
custom_c = true;
std::cout << "Custom colour visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-r") >= 0)
{
rgb = true;
std::cout << "RGB colour visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-n") >= 0)
{
normals = true;
std::cout << "Normals visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-a") >= 0)
{
shapes = true;
std::cout << "Shapes visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-v") >= 0)
{
viewports = true;
std::cout << "Viewports example\n";
}
else if (pcl::console::find_argument (argc, argv, "-i") >= 0)
{
interaction_customization = true;
std::cout << "Interaction Customization example\n";
}
else
{
printUsage (argv[0]);
return 0;
}
// ------------------------------------
// -----Create example point cloud-----
// ------------------------------------
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// We're going to make an ellipse extruded along the z-axis. The colour for
// the XYZRGB cloud will gradually go from red to green to blue.
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZ basic_point;
basic_point.x = 0.5 * cosf (pcl::deg2rad(angle));
basic_point.y = sinf (pcl::deg2rad(angle));
basic_point.z = z;
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
// ----------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.05-----
// ----------------------------------------------------------------
pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
ne.setInputCloud (point_cloud_ptr);
pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB> ());
ne.setSearchMethod (tree);
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1 (new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch (0.05);
ne.compute (*cloud_normals1);
// ---------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.1-----
// ---------------------------------------------------------------
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2 (new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch (0.1);
ne.compute (*cloud_normals2);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
if (simple)
{
viewer = simpleVis(basic_cloud_ptr);
}
else if (rgb)
{
viewer = rgbVis(point_cloud_ptr);
}
else if (custom_c)
{
viewer = customColourVis(basic_cloud_ptr);
}
else if (normals)
{
viewer = normalsVis(point_cloud_ptr, cloud_normals2);
}
else if (shapes)
{
viewer = shapesVis(point_cloud_ptr);
}
else if (viewports)
{
viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2);
}
else if (interaction_customization)
{
viewer = interactionCustomizationVis();
}
//--------------------
// -----Main loop-----
//--------------------
while (!viewer->wasStopped ())
{
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
// --------------
// -----Main-----
// --------------
int
main (int argc, char** argv)
{
// --------------------------------------
// -----Parse Command Line Arguments-----
// --------------------------------------
if (pcl::console::find_argument (argc, argv, "-h") >= 0)
{
printUsage (argv[0]);
return 0;
}
bool simple(false), rgb(false), custom_c(false), normals(false),
shapes(false), viewports(false), interaction_customization(false);
if (pcl::console::find_argument (argc, argv, "-s") >= 0)
{
simple = true;
std::cout << "Simple visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-c") >= 0)
{
custom_c = true;
std::cout << "Custom colour visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-r") >= 0)
{
rgb = true;
std::cout << "RGB colour visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-n") >= 0)
{
normals = true;
std::cout << "Normals visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-a") >= 0)
{
shapes = true;
std::cout << "Shapes visualisation example\n";
}
else if (pcl::console::find_argument (argc, argv, "-v") >= 0)
{
viewports = true;
std::cout << "Viewports example\n";
}
else if (pcl::console::find_argument (argc, argv, "-i") >= 0)
{
interaction_customization = true;
std::cout << "Interaction Customization example\n";
}
else
{
printUsage (argv[0]);
return 0;
}
// ------------------------------------
// -----Create example point cloud-----
// ------------------------------------
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// We're going to make an ellipse extruded along the z-axis. The colour for
// the XYZRGB cloud will gradually go from red to green to blue.
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZ basic_point;
basic_point.x = 0.5 * cosf (pcl::deg2rad(angle));
basic_point.y = sinf (pcl::deg2rad(angle));
basic_point.z = z;
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
// ----------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.05-----
// ----------------------------------------------------------------
pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
ne.setInputCloud (point_cloud_ptr);
pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB> ());
ne.setSearchMethod (tree);
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1 (new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch (0.05);
ne.compute (*cloud_normals1);
// ---------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.1-----
// ---------------------------------------------------------------
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2 (new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch (0.1);
ne.compute (*cloud_normals2);
// ----------------------------------------------------------------
// -----Load PCD file from Kinect ---------------------------------
// - TF -----------------------------------------------------------
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr_kinect (new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>& point_cloud_kinect = *point_cloud_ptr_kinect;
pcl::io::loadPCDFile ("/home/taylor/src/data_pcd/top/kinect_top_rgb.pcd", point_cloud_kinect);
// --end import --
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
if (simple)
{
viewer = simpleVis(basic_cloud_ptr);
}
else if (rgb)
{
viewer = rgbVis(point_cloud_ptr_kinect);
}
else if (custom_c)
{
viewer = customColourVis(point_cloud_ptr_kinect);
}
else if (normals)
{
viewer = normalsVis(point_cloud_ptr, cloud_normals2);
}
else if (shapes)
{
viewer = shapesVis(point_cloud_ptr);
}
else if (viewports)
{
viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2);
}
else if (interaction_customization)
{
viewer = interactionCustomizationVis();
}
//--------------------
// -----Main loop-----
//--------------------
//TF custom
cout << "begin custom" << endl;
viewer->spinOnce(1000);
viewer->setCameraPosition(0.00, 0.00, -1.25, 0.00, 0.00, 0.625, -0.00, -0.99999, 0.000);
viewer->setCameraFieldOfView(0.523599);
viewer->setCameraClipDistances(0.0, 4.0);
viewer->setSize(1000,1000);
viewer->updateCamera();
viewer->spinOnce(1000);
cout << " " << endl;
cout << "drawing sphere..." << endl;
pcl::PointXYZ p1;
p1.x = -0.031;
p1.y = 0.021;
p1.z = 0.602;
viewer->addSphere(p1, 0.01, 1.0, 0.0, 1.0, "PickedPoint", 0);
cout << "end custom" << endl;
//end TF Custom
while (!viewer->wasStopped ())
{
viewer->spinOnce (10000);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
// --------------
// -----Main-----
// --------------
int main(int argc, char** argv)
{
// --------------------------------------
// -----Parse Command Line Arguments-----
// --------------------------------------
if (pcl17::console::find_argument(argc, argv, "-h") >= 0)
{
printUsage(argv[0]);
return 0;
}
bool simple(false), rgb(false), custom_c(false), normals(false), shapes(false), viewports(false),
interaction_customization(false);
if (pcl17::console::find_argument(argc, argv, "-s") >= 0)
{
simple = true;
std::cout << "Simple visualisation example\n";
}
else if (pcl17::console::find_argument(argc, argv, "-c") >= 0)
{
custom_c = true;
std::cout << "Custom colour visualisation example\n";
}
else if (pcl17::console::find_argument(argc, argv, "-r") >= 0)
{
rgb = true;
std::cout << "RGB colour visualisation example\n";
}
else if (pcl17::console::find_argument(argc, argv, "-n") >= 0)
{
normals = true;
std::cout << "Normals visualisation example\n";
}
else if (pcl17::console::find_argument(argc, argv, "-a") >= 0)
{
shapes = true;
std::cout << "Shapes visualisation example\n";
}
else if (pcl17::console::find_argument(argc, argv, "-v") >= 0)
{
viewports = true;
std::cout << "Viewports example\n";
}
else if (pcl17::console::find_argument(argc, argv, "-i") >= 0)
{
interaction_customization = true;
std::cout << "Interaction Customization example\n";
}
else
{
printUsage(argv[0]);
return 0;
}
// ------------------------------------
// -----Create example point cloud-----
// ------------------------------------
pcl17::PointCloud<pcl17::PointXYZRGB>::Ptr basic_cloud_ptr(new pcl17::PointCloud<pcl17::PointXYZRGB>);
pcl17::PointCloud<pcl17::PointXYZRGB>::Ptr point_cloud_ptr(new pcl17::PointCloud<pcl17::PointXYZRGB>);
pcl17::PointCloud<pcl17::PointXYZRGB>::Ptr cloud_f(new pcl17::PointCloud<pcl17::PointXYZRGB>);
pcl17::VoxelGrid<pcl17::PointXYZRGB > sor;
//pcl17::PLYReader reader;
//reader.read("box.ply",*point_cloud_ptr,0);
//pcl17::PointXYZRGB point;
if (pcl17::io::loadPCDFile<pcl17::PointXYZRGB>(argv[1], *point_cloud_ptr) == -1) //* load the file
{
PCL17_ERROR("Couldn't read file test_pcd.pcd \n");
return (-1);
}
basic_cloud_ptr = point_cloud_ptr;
/*
std::cout << "Loaded " << point_cloud_ptr->width * point_cloud_ptr->height << " data points" << std::endl;
cout << "gobbel" << endl;
sor.setInputCloud(point_cloud_ptr);
std::cerr << "PointCloud before filtering: " << point_cloud_ptr->width * point_cloud_ptr->height << " data points ("
<< pcl17::getFieldsList(*point_cloud_ptr) << ").";
std::cout << std::endl;
sor.setLeafSize(0.01, 0.01, 0.01);
sor.filter(*cloud_f);
pcl17::io::savePCDFileASCII("BoxFiltered.pcd", *cloud_f); */
/* for (size_t i = 0; i < point_cloud_ptr->points.size (); ++i)
std::cout << " " << point_cloud_ptr->points[i].x
<< " " << point_cloud_ptr->points[i].y
<< " " << point_cloud_ptr->points[i].z << std::endl;
cout << point_cloud_ptr->width << endl;
cout << point_cloud_ptr->height << endl;
for(int i=0;i<point_cloud_ptr->width * point_cloud_ptr->height;i++)
{
point=point_cloud_ptr->points.at(i);
point.r = 255;
point.g = 0;
point.b = 0;
basic_cloud_ptr->points.at(i)=point;
}
cout << basic_cloud_ptr->width << endl;
cout << basic_cloud_ptr->height << endl;
pcl17::PCDWriter writer;
writer.write<pcl17::PointXYZRGB> (argv[1], *basic_cloud_ptr, false);
point_cloud_ptr=basic_cloud_ptr; */
// ----------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.05-----
// ----------------------------------------------------------------
pcl17::NormalEstimation<pcl17::PointXYZRGB, pcl17::Normal> ne;
ne.setInputCloud(point_cloud_ptr);
pcl17::search::KdTree<pcl17::PointXYZRGB>::Ptr tree(new pcl17::search::KdTree<pcl17::PointXYZRGB>());
ne.setSearchMethod(tree);
pcl17::PointCloud<pcl17::Normal>::Ptr cloud_normals1(new pcl17::PointCloud<pcl17::Normal>);
ne.setRadiusSearch(0.05);
ne.compute(*cloud_normals1);
// ---------------------------------------------------------------
// -----Calculate surface normals with a search radius of 0.1-----
// ---------------------------------------------------------------
pcl17::PointCloud<pcl17::Normal>::Ptr cloud_normals2(new pcl17::PointCloud<pcl17::Normal>);
ne.setRadiusSearch(0.1);
ne.compute(*cloud_normals2);
boost::shared_ptr<pcl17::visualization::PCLVisualizer> viewer;
if (simple)
{
viewer = simpleVis(basic_cloud_ptr);
}
else if (rgb)
{
viewer = rgbVis(point_cloud_ptr);
}
else if (custom_c)
{
viewer = customColourVis(basic_cloud_ptr);
}
else if (normals)
{
viewer = normalsVis(point_cloud_ptr, cloud_normals2);
}
else if (shapes)
{
viewer = shapesVis(point_cloud_ptr);
}
else if (viewports)
{
viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2);
}
else if (interaction_customization)
{
viewer = interactionCustomizationVis();
}
//--------------------
// -----Main loop-----
//--------------------
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}