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# -*- coding: utf-8 -*-
# Point cloud library
import pcl
# Opencv
import opencv
# These are track bar initial settings adjusted to the given pointcloud to make it completely visible.
# Need to be adjusted depending on the pointcloud and its xyz limits if used with new pointclouds.
# int a = 22;
# int b = 12;
# int c= 10;
a = 22
b = 12
c= 10
# PCL Visualizer to view the pointcloud
# pcl::visualization::PCLVisualizer viewer ("Simple visualizing window");
# int main (int argc, char** argv)
# {
# pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
# pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZRGBA>);
# if (pcl::io::loadPLYFile<pcl::PointXYZRGBA> (argv[1], *cloud) == -1) //* load the ply file from command line
# {
# PCL_ERROR ("Couldn't load the file\n");
# return (-1);
# }
cloud = pcl.loadPLYFile("ism_test_cat.pcd")
# pcl::copyPointCloud( *cloud,*cloud_filtered);
cloud_filtered = cloud.copyPointCloud()
# float i
# float j
# float k
# cv::namedWindow("picture");
# // Creating trackbars uisng opencv to control the pcl filter limits
# cvCreateTrackbar("X_limit", "picture", &a, 30, NULL);
# cvCreateTrackbar("Y_limit", "picture", &b, 30, NULL);
# cvCreateTrackbar("Z_limit", "picture", &c, 30, NULL);
opencv.cvCreateTrackbar("X_limit", "picture", &a, 30)
opencv.cvCreateTrackbar("Y_limit", "picture", &b, 30)
opencv.cvCreateTrackbar("Z_limit", "picture", &c, 30)
# // Starting the while loop where we continually filter with limits using trackbars and display pointcloud
# char last_c = 0;
last_c = 0
# while(true && (last_c != 27))
while last_c != 27:
# pcl::copyPointCloud(*cloud_filtered, *cloud);
# // i,j,k Need to be adjusted depending on the pointcloud and its xyz limits if used with new pointclouds.
i = 0.1 * a;
j = 0.1 * b;
k = 0.1 * c;
# Printing to ensure that the passthrough filter values are changing if we move trackbars.
# cout << "i = " << i << " j = " << j << " k = " << k << endl;
print("i = " + str(i) + " j = " + str(j) + " k = " + str(k))
# Applying passthrough filters with XYZ limits
# pcl::PassThrough<pcl::PointXYZRGBA> pass;
# pass.setInputCloud (cloud);
# pass.setFilterFieldName ("y");
# // pass.setFilterLimits (-0.1, 0.1);
# pass.setFilterLimits (-k, k);
# pass.filter (*cloud);
pass = cloud.make_PassThrough()
pass.setFilterFieldName ("y")
pass.setFilterLimits (-k, k)
cloud = pass.filter ()
# pass.setInputCloud (cloud);
# pass.setFilterFieldName ("x");
# // pass.setFilterLimits (-0.1, 0.1);
# pass.setFilterLimits (-j, j);
# pass.filter (*cloud);
pass.setInputCloud (cloud);
pass.setFilterFieldName ("x")
pass.setFilterLimits (-j, j)
cloud = pass.filter ()
# pass.setInputCloud (cloud);
# pass.setFilterFieldName ("z");
# // pass.setFilterLimits (-10, 10);
# pass.setFilterLimits (-i, i);
# pass.filter (*cloud);
pass.setInputCloud (cloud);
pass.setFilterFieldName ("z")
pass.setFilterLimits (-10, 10)
cloud = pass.filter ()
# // Visualizing pointcloud
# viewer.addPointCloud (cloud, "scene_cloud");
# viewer.spinOnce();
# viewer.removePointCloud("scene_cloud");
viewer.addPointCloud (cloud, "scene_cloud")
viewer.spinOnce()
viewer.removePointCloud("scene_cloud")
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