point-cloud-library | 易学教程

Eigen with PointCloud (PCL)

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问题 I have been following the tutorial http://pointclouds.org/documentation/tutorials/pcl_visualizer.php#pcl-visualizer and could get a simple viewer working. I looked up the documentation and found the function getMatrixXfMap which returns the Eigen::MatrixXf from a PointCloud . // Get Eigen matrix Eigen::MatrixXf M = basic_cloud_ptr->getMatrixXfMap(); cout << "(Eigen) #row :" << M.rows() << endl; cout << "(Eigen) #col :" << M.cols() << endl; Next I process M (basically rotations, translations

Rectangle Detection in PCL

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问题 How do I perform rectangle-fitting in PCL? PCL allows RANSAC for a limited set of models (sphere, cylinder, etc) but not for rectangles. Is there a way to do rectangle-fitting with PCL's RANSAC or perhaps another PCL module? 来源： https://stackoverflow.com/questions/54100897/rectangle-detection-in-pcl

Removing points from a pcl::PointCloud<pcl::PointXYZRGB>

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问题 I'm new in PCL. I'm using the PCL library and I'm looking for a way to extract points from a point cloud or copying particular points to a new one. I want to verify for each point if it respects a condition and I want to obtain a point cloud with only the good points.Thank you! 回答1: Use the ExtractIndices class: add your points to be removed to a PointIndices variable pass these Indices to the ExtractIndices run filter() method "negatively" to get the original cloud minus your points example:

PCL, OpenCV and flann conflict

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问题 I'm using PCL 1.6, OpenCV 2.4.2 for my program (in Qt) and there is this flann (1.7.1) conflict I cannot resolve. I have already read a lot about it on the internet, and tried most of the solutions (not using using namespace cv , update the latest version of OpenCV and put PCL includes before OpenCV inludes etc.), but still whenever I use PCL and OpenCV together, the flann-lib (which PCL uses) would cause problem and say e.g. for this line of code typedef flann::Index<Dist> FLANNIndex; /usr

Converting a pointcloud to a depth/multi channel image

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问题 I have a pointcloud generated by scanning a planar surface using stereo cameras. I have generated features such as normals, fpfh etc and using this information I want to classify areas in the pointcloud. To enable the use of more traditional CNN approaches I want to convert this pointcloud to a multi-channel image in opencv. I have the pointcloud collapsed to the XY plane, and aligned to the X and Y axes so that I can create a bounding box for the image. I am looking for ideas on how to

Rectangle Detection in PCL

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How do I perform rectangle-fitting in PCL? PCL allows RANSAC for a limited set of models (sphere, cylinder, etc) but not for rectangles. Is there a way to do rectangle-fitting with PCL's RANSAC or perhaps another PCL module? 来源： https://stackoverflow.com/questions/54100897/rectangle-detection-in-pcl

How to find corner points of any object in point cloud and find distance between corner points in inch/cm/m?

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问题 We are creating an app which is used for calculating measurements of any a window/door using Project tango Device. For that we need to follow below mentioned steps: 1. Capture Image (normal 2D image). Store this image. 2. Also capture point cloud while capturing the Image. Store the point cloud in a PCD file. 3. Indicate the position of the window/door in the image displayed on a canvas by drawing a rectangle on the image. See Image. 4. As the rectangle is drawn automatically calculate width

How to visualize a sequence of TOF-Sensor data in PCL (with Qt)?

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I've this TOF-sensor and I want to visualize the sensor's data as a point-cloud in Qt. I converted the data into a pcl::PointCloud and now I want to visualize it. The API of the sensor would emit a picture whenever one was created. And I would send it to the QVTKWidget to visualize it. And I tried it with this snippet of code (which I got from here ): pcl::visualization::PCLVisualizer pvis ("test_vis", false); // 'false' prevents PCLVisualizer's own window to pop up pvis.addPointCloud<pcl::PointXYZ>(pc); // pc is my point cloud vtkSmartPointer<vtkRenderWindow> renderWindow = pvis

Converting a pointcloud to a depth/multi channel image

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I have a pointcloud generated by scanning a planar surface using stereo cameras. I have generated features such as normals, fpfh etc and using this information I want to classify areas in the pointcloud. To enable the use of more traditional CNN approaches I want to convert this pointcloud to a multi-channel image in opencv. I have the pointcloud collapsed to the XY plane, and aligned to the X and Y axes so that I can create a bounding box for the image. I am looking for ideas on how to proceed further with the mapping from points to pixels. Specifically, I am confused about the image size,

PCL kd-tree implementation extremely slow

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问题 I am using Point Cloud Library (PCL) based C++ implementation of kd-tree nearest neighbour(NN) searching. The data set contains about 2.2 million points. I am searching NN points for every other point. The search radius is set at 2.0. To fully compute that, it takes about 12 hours! I am using windows 64 bit machine with 4GB RAM. Is it very common for kd-tree searching? I wonder if there is any other c++ library for 3D point cloud data, which is faster. I heard about ANN C++ library & CGAL,