#include <pcl/point_cloud.h>
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/histogram_visualizer.h>
#include <pcl/point_types.h>
#include <pcl/features/fpfh.h>
#include <pcl/filters/fast_bilateral.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/pcl_plotter.h>
#include <pcl/features/normal_3d_omp.h>
typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
// Mutex: //
boost::mutex cloud_mutex;
pcl::visualization::PCLPlotter plotter;
pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> fpfh;
pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfhs(new pcl::PointCloud<pcl::FPFHSignature33>());
struct callback_args {
// structure used to pass arguments to the callback function
PointCloudT::Ptr clicked_points_3d;
pcl::visualization::PCLVisualizer::Ptr viewerPtr;
};
void
pp_callback(const pcl::visualization::PointPickingEvent& event, void* args)
{
plotter.clearPlots();
struct callback_args* data = (struct callback_args *)args;
if (event.getPointIndex() == -1)
return;
PointT current_point;
event.getPoint(current_point.x, current_point.y, current_point.z);
data->clicked_points_3d->points.clear();
data->clicked_points_3d->points.push_back(current_point);
// Draw clicked points in red:
pcl::visualization::PointCloudColorHandlerCustom<PointT> red(data->clicked_points_3d, 255, 0, 0);
data->viewerPtr->removePointCloud("clicked_points");
data->viewerPtr->addPointCloud(data->clicked_points_3d, red, "clicked_points");
data->viewerPtr->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, "clicked_points");
std::cout << current_point.x << " " << current_point.y << " " << current_point.z << std::endl;
int num=event.getPointIndex();
plotter.addFeatureHistogram<pcl::FPFHSignature33>(*fpfhs, "fpfh", num);
plotter.plot();
}
void main()
{
std::string filename("milk_cartoon_all_small_clorox.pcd");
//visualizer
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));
if (pcl::io::loadPCDFile(filename, *cloud))
{
std::cerr << "ERROR: Cannot open file " << filename << "! Aborting..." << std::endl;
return;
}
std::cout << cloud->points.size() << std::endl;
cloud_mutex.lock();// for not overwriting the point cloud
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_fillter(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud(cloud);
pass.setFilterFieldName("z");
pass.setFilterLimits(0.0, 1.0);
pass.filter(*cloud_fillter);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filltered(new pcl::PointCloud<pcl::PointXYZ>);
pcl::VoxelGrid<pcl::PointXYZ> sor;
sor.setInputCloud(cloud_fillter);
sor.setLeafSize(0.01f, 0.01f, 0.01f);
sor.filter(*cloud_filltered);
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>());
pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
ne.setInputCloud(cloud_filltered);
ne.setSearchSurface(cloud_fillter);
ne.setNumberOfThreads(4);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
ne.setSearchMethod(tree);
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch(0.03);
ne.compute(*cloud_normals);
fpfh.setInputCloud(cloud_filltered);
fpfh.setInputNormals(cloud_normals);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree_1(new pcl::search::KdTree<pcl::PointXYZ>);
fpfh.setSearchMethod(tree_1);
fpfh.setRadiusSearch(0.05);
fpfh.compute(*fpfhs);
// Display pointcloud:
viewer->addPointCloud(cloud_filltered, "bunny");
viewer->setCameraPosition(0, 0, -2, 0, -1, 0, 0);
// Add point picking callback to viewer:
struct callback_args cb_args;
PointCloudT::Ptr clicked_points_3d(new PointCloudT);
cb_args.clicked_points_3d = clicked_points_3d;
cb_args.viewerPtr = pcl::visualization::PCLVisualizer::Ptr(viewer);
viewer->registerPointPickingCallback(pp_callback, (void*)&cb_args);
std::cout << "Shift+click on three floor points, then press 'Q'..." << std::endl;
// Spin until 'Q' is pressed:
viewer->spin();
std::cout << "done." << std::endl;
cloud_mutex.unlock();
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}
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