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#include <pcl/apps/cloud_composer/tools/normal_estimation.h>
#include <pcl/apps/cloud_composer/items/normals_item.h>
#include <pcl/features/normal_3d.h>
#include <pcl/point_types.h>
Q_PLUGIN_METADATA(IID "cloud_composer.ToolFactory/1.0")
pcl::cloud_composer::NormalEstimationTool::NormalEstimationTool (PropertiesModel* parameter_model, QObject* parent)
: NewItemTool (parameter_model, parent)
{
}
QList <pcl::cloud_composer::CloudComposerItem*>
pcl::cloud_composer::NormalEstimationTool::performAction (ConstItemList input_data, PointTypeFlags::PointType)
{
QList <CloudComposerItem*> output;
const CloudComposerItem* input_item;
// Check input data length
if ( input_data.empty ())
{
qCritical () << "Empty input in Normal Estimation Tool!";
return output;
}
if ( input_data.size () > 1)
{
qWarning () << "Input vector has more than one item in Normal Estimation!";
}
input_item = input_data.value (0);
pcl::PCLPointCloud2::ConstPtr input_cloud;
if (input_item->type () == CloudComposerItem::CLOUD_ITEM)
{
double radius = parameter_model_->getProperty("Radius").toDouble();
qDebug () << "Received Radius = " <<radius;
pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
qDebug () << "Got cloud size = "<<input_cloud->width;
//////////////// THE WORK - COMPUTING NORMALS ///////////////////
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2 (*input_cloud, *cloud);
// Create the normal estimation class, and pass the input dataset to it
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
ne.setInputCloud (cloud);
// Create an empty kdtree representation, and pass it to the normal estimation object.
// Its content will be filled inside the object, based on the given input dataset (as no other search surface is given).
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
ne.setSearchMethod (tree);
// Output datasets
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
// Use all neighbors in a sphere of radius 3cm
ne.setRadiusSearch (radius);
// Compute the features
ne.compute (*cloud_normals);
//////////////////////////////////////////////////////////////////
NormalsItem* normals_item = new NormalsItem (tr("Normals r=%1").arg(radius),cloud_normals,radius);
output.append (normals_item);
qDebug () << "Calced normals";
}
else
{
qDebug () << "Input item in Normal Estimation is not a cloud!!!";
}
return output;
}
/////////////////// PARAMETER MODEL /////////////////////////////////
pcl::cloud_composer::PropertiesModel*
pcl::cloud_composer::NormalEstimationToolFactory::createToolParameterModel (QObject* parent)
{
PropertiesModel* parameter_model = new PropertiesModel(parent);
parameter_model->addProperty ("Radius", 0.04, Qt::ItemIsEditable | Qt::ItemIsEnabled);
return parameter_model;
}
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