point-cloud-library

Checking point coordinates in PCLVisualizer

由 ≡放荡痞女 提交于 2019-12-05 21:56:32
How can I check specific point coordinates in PCLVisualizer? There are no information regarding this topic in help: | Help: ------- p, P : switch to a point-based representation w, W : switch to a wireframe-based representation (where available) s, S : switch to a surface-based representation (where available) j, J : take a .PNG snapshot of the current window view c, C : display current camera/window parameters f, F : fly to point mode e, E : exit the interactor q, Q : stop and call VTK's TerminateApp +/- : increment/decrement overall point size +/- [+ ALT] : zoom in/out g, G : display scale

Ambiguous Define Directive in C

由 浪子不回头ぞ 提交于 2019-12-05 18:42:26
I was looking through some code (PCL) and found this define directive: #define PCL_FEATURE_POINT_TYPES \ (pcl::PFHSignature125) \ (pcl::PFHRGBSignature250) \ (pcl::PPFSignature) \ (pcl::PPFRGBSignature) \ (pcl::NormalBasedSignature12) \ (pcl::FPFHSignature33) \ (pcl::VFHSignature308) \ (pcl::Narf36) Can someone explain to me what this is doing (and possibly provide a reference to this feature?). When would something like this be useful? Oh boy, this is messed up. Short version It's a list-like structure (a "sequence" in Boost PP parlance) for the preprocessor, used by the Boost Preprocessor

PCL: Visualise a point cloud

由 假装没事ソ 提交于 2019-12-05 15:50:53
问题 I'm trying to visualise point cloud using PCL CloudViewer. The problem is that I'm quite new to C++ and I have found two tutorials first demonstrating the creation of PointCloud and second demonstration the visualisation of a PointCloud. However, I'm not able to combine these two tutorials. Here is what I come with: #include <iostream> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/visualization/cloud_viewer.h> int main (int argc, char** argv) { pcl::PointCloud<pcl:

Set-to-Subset point cloud matching

由 做~自己de王妃 提交于 2019-12-05 04:08:52
问题 I have two point clouds, in 3d coordinates. One is a subset of the other, containing many less points. They are in the same scale. What i need to do is find the translation and rotation between the two. I have looked at Point cloud Library, "Iterative closest point", and Coherent Point Drift, but these matching approaches both seem to expect the two point sets to contain mostly the same points, not have one be a smaller, subset of the other. Can i use either of these, with adjustments? Or is

Integral Image normal estimation from kinect depth image

由 你离开我真会死。 提交于 2019-12-05 04:07:13
问题 I am doing the following to try and estimate surface normals from a point cloud generated from a Kinect depth image: pcl::PointCloud<pcl::PointXYZRGB>::Ptr create_point_cloud_ptr(Mat& depthImage, Mat& rgbImage){ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>()); cloud->width = depthImage.rows; //Dimensions must be initialized to use 2-D indexing cloud->height = depthImage.cols; cloud->resize(cloud->width*cloud->height); int min_depth = INT_MAX; int num_of

How to read .ply file using PCL

由 非 Y 不嫁゛ 提交于 2019-12-05 02:00:21
问题 I can read .pcd data using this program. #include <iostream> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> int main (int argc, char** argv) { pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>); if (pcl::io::loadPCDFile<pcl::PointXYZ> ("airplane.pcd", *cloud) == -1) //* load the file { PCL_ERROR ("Couldn't read file test_pcd.pcd \n"); return (-1); } std::cout << "Loaded " << cloud->width * cloud->height << " data points from test_pcd.pcd with the following

How do I link PCL library properly for use within an objective-C app compiled in Xcode?

由 痞子三分冷 提交于 2019-12-04 17:31:59
Question: How do I use PCL in the context of an Objective-C Cocoa (OSX, not iOS) app? Tearing my hair out over this one.I can't get libpcl to link properly with my Objective C project in Xcode. I have checked and re-checked everything I can possibly think of. Probably doing something dumb, but I'm stumped. Actual error is linker: Undefined symbols for architecture x86_64: "pcl::PassThrough<pcl::PointXYZ>::applyFilterIndices(std::__1::vector<int, std::__1::allocator<int> >&)", referenced from: pcl::PassThrough<pcl::PointXYZ>::applyFilter(std::__1::vector<int, std::__1::allocator<int> >&) in

PCL kd-tree implementation extremely slow

由 為{幸葍}努か 提交于 2019-12-04 12:44:48
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, but not sure how fast these are. In short: You can only be sure if you run yourself the time measurements

Point Cloud Library with Visual Studio 2017

由 南笙酒味 提交于 2019-12-04 06:41:56
I'm having trouble using Point Cloud Library with Microsoft Visual Studio 2017. I have installed [PCL-1.8.1-AllInOne-msvc2017-win64.exe] and I've followed the steps mentioned here. to link it to my Visual Studio 2017 project. My problem is that Visual Studio is not finding the header nor the source files of the library I need. The error I'm getting is as follows: [fatal error C1083: Cannot open include file: 'pcl/io/pcd_io.h': No such file or directory] To be more precise about my problem, I need to include three PCL header files in order to run this Iterative Closest Point Tutorial I've

PCL install links directly to boost installation directory somehow

由 早过忘川 提交于 2019-12-04 03:32:53
问题 I have a very odd problem with the installation of PCL. Basically i have set up PCL, boost, cmake, flann etc.. it all builds and compiles correctly. I copied and built the ICP example and it builds just fine. Here is where it gets weird. When I run the application I get the following error: ldd:FATAL: Could not load library bin.v2/libs/system/build/qcc-4.4.2/ release/threading-multi/libboost_system.so.1.48.0 So libboost_system.so.1.48.0 exists in the /usr/local/lib path and is even linked
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