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#include <pcl/io/pcd_io.h>
#include <pcl/filters/passthrough.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/pcl_visualizer.h>
using pcl::PointCloud;
using pcl::PointXYZRGB;
using pcl::Normal;
using pcl::PointXYZRGBNormal;
using pcl::PCDReader;
using pcl::PassThrough;
using pcl::NormalEstimation;
using pcl::KdTreeFLANN;
int
main (int argc, char **argv)
{
srand (time (0));
PointCloud<PointXYZRGB>::Ptr cloud (new PointCloud<PointXYZRGB>);
PCDReader pcd;
if (pcd.read (argv[1], *cloud) == -1)
return (-1);
// Filter the data
std::cerr << "Filtering..." << std::endl;
PassThrough<PointXYZRGB> pass;
pass.setInputCloud (cloud);
PointCloud<PointXYZRGB>::Ptr cloud_filtered (new PointCloud<PointXYZRGB>);
pass.filter (*cloud_filtered);
// Estimate surface normals
std::cerr << "Estimating normals..." << std::endl;
NormalEstimation<PointXYZRGB, Normal> ne;
ne.setInputCloud (cloud_filtered);
ne.setKSearch (20);
KdTreeFLANN<PointXYZRGB>::Ptr tree (new KdTreeFLANN<PointXYZRGB>);
ne.setSearchMethod (tree);
PointCloud<Normal> normals;
ne.compute (normals);
// Concatenate points and normals
PointCloud<PointXYZRGBNormal> cloud_normals;
pcl::concatenateFields (cloud_filtered, normals, cloud_normals);
// Start the visualizer
pcl::visualization::PCLVisualizer p ("test");
p.setBackgroundColor (1, 1, 1);
p.addCoordinateSystem (0.1);
pcl::visualization::PointCloudColorHandlerRGBField<PointXYZRGBNormal> color_handler (cloud_normals);
// Geometry handler demo
{
std::cerr << "PointCloudGeometryHandlerSurfaceNormal demo." << std::endl;
pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<PointXYZRGBNormal> geometry_handler (cloud_normals);
p.addPointCloud (cloud_normals, geometry_handler, "cloud_normal");
p.spin ();
p.removePointCloud ("cloud_normal");
p.addPointCloud (cloud_normals, color_handler, geometry_handler, "cloud_normal");
p.spin ();
p.removePointCloud ("cloud_normal");
}
{
std::cerr << "PointCloudGeometryHandlerXYZ demo." << std::endl;
pcl::visualization::PointCloudGeometryHandlerXYZ<PointXYZRGBNormal> geometry_handler (cloud_normals);
p.addPointCloud (cloud_normals, color_handler, geometry_handler, "cloud_xyz");
p.spin ();
p.removePointCloud ("cloud_xyz");
}
{
std::cerr << "PointCloudGeometryHandlerXYZ demo." << std::endl;
pcl::visualization::PointCloudGeometryHandlerCustom<PointXYZRGBNormal> geometry_handler (cloud_normals, "x", "y", "z");
p.addPointCloud (cloud_normals, color_handler, geometry_handler, "cloud_xyz");
p.spin ();
p.removePointCloud ("cloud_xyz");
geometry_handler = pcl::visualization::PointCloudGeometryHandlerCustom<PointXYZRGBNormal> (cloud_normals, "x", "x", "y");
p.addPointCloud (cloud_normals, color_handler, geometry_handler, "cloud_xyz");
p.spin ();
p.removePointCloud ("cloud_xyz");
}
p.spin ();
}
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