PCL Kütüphanesi Octree Kodunun Çalıştırılması (Run PCL Octree Code)

10 Kasım 20178 Ekim 2018 tarihinde gönderilmiş yapbenzet tarafından

Daha önceden anlatıldığı gibi PCL kütüphanesi kurulduktan sonra bir octree kodunun çalıştırılması için aşağıdaki işlemler yapılmalıdır.

Herhangibir klasörde bir diziinoluşturarak bu dizine gidiyoruz.
Burada build adında bir klasörü aşağıdaki gibi oluşturuyoruz.

mkdir build

Daha sonra oluşturulan klasörün içine cloud_viewer.cpp CMakeLists.txt ve Bu linkteki örnek pcd uzantılı pcl dataseti indirilerek atıyoruz.

CMakeLists.txt’nin içeriği

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(cloud_viewer)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (cloud_viewer cloud_viewer.cpp)
target_link_libraries (cloud_viewer ${PCL_LIBRARIES})

cloud_viewer.cpp dosyasının içeriği

#include <pcl/visualization/cloud_viewer.h>
#include
#include <pcl/io/io.h>
#include <span class="pl-k"><</span>pcl<span class="pl-k">/</span>io<span class="pl-k">/</span>pcd_io<span class="pl-k">.</span>h<span class="pl-k">></span>
<span class="pl-c">/////////////////////</span>
#include <span class="pl-k"><</span>pcl<span class="pl-k">/</span>point_cloud<span class="pl-k">.</span>h<span class="pl-k">></span>
#include <span class="pl-k"><</span>pcl<span class="pl-k">/</span>point_types<span class="pl-k">.</span>h<span class="pl-k">></span>
#include <span class="pl-k"><</span>pcl<span class="pl-k">/</span>io<span class="pl-k">/</span>openni_grabber<span class="pl-k">.</span>h<span class="pl-k">></span>
#include <span class="pl-k"><</span>pcl<span class="pl-k">/</span>visualization<span class="pl-k">/</span>cloud_viewer<span class="pl-k">.</span>h<span class="pl-k">></span>

#include <span class="pl-k"><</span>pcl<span class="pl-k">/</span>compression<span class="pl-k">/</span>octree_pointcloud_compression<span class="pl-k">.</span>h<span class="pl-k">></span>
#include <span class="pl-k"><</span>stdio<span class="pl-k">.</span>h<span class="pl-k">></span>
#include <span class="pl-k"><</span>sstream<span class="pl-k">></span>
#include <span class="pl-k"><</span>stdlib<span class="pl-k">.</span>h<span class="pl-k">></span>

#include <span class="pl-k"><</span>pcl<span class="pl-k">/</span>octree<span class="pl-k">/</span>octree<span class="pl-k">.</span>h<span class="pl-k">></span>
#include <span class="pl-k"><</span>vector<span class="pl-k">></span>
#include <span class="pl-k"><</span>ctime<span class="pl-k">></span>

using namespace std;
<span class="pl-k">int</span> user_data;

<span class="pl-k">void</span> viewerOneOff (pcl<span class="pl-k">::</span>visualization<span class="pl-k">::</span><span class="pl-smi">PCLVisualizer</span><span class="pl-k">&</span> viewer)
{
    viewer<span class="pl-k">.</span>setBackgroundColor (<span class="pl-c1">1.0</span>, <span class="pl-c1">0.5</span>, <span class="pl-c1">1.0</span>);
    pcl<span class="pl-k">::</span><span class="pl-smi">PointXYZ</span> o;
    o<span class="pl-k">.</span>x <span class="pl-k">=</span> <span class="pl-c1">1.0</span>;
    o<span class="pl-k">.</span>y <span class="pl-k">=</span> <span class="pl-c1">0</span>;
    o<span class="pl-k">.</span>z <span class="pl-k">=</span> <span class="pl-c1">0</span>;
    viewer<span class="pl-k">.</span>addSphere (o, <span class="pl-c1">0.25</span>, <span class="pl-s"><span class="pl-pds">"</span>sphere<span class="pl-pds">"</span></span>, <span class="pl-c1">0</span>);
    std<span class="pl-k">::</span>cout <span class="pl-k"><<</span> <span class="pl-s"><span class="pl-pds">"</span>i only run once<span class="pl-pds">"</span></span> <span class="pl-k"><<</span> std<span class="pl-k">::</span>endl;

}

<span class="pl-k">void</span> viewerPsycho (pcl<span class="pl-k">::</span>visualization<span class="pl-k">::</span><span class="pl-smi">PCLVisualizer</span><span class="pl-k">&</span> viewer)
{
    <span class="pl-k">static</span> unsigned count <span class="pl-k">=</span> <span class="pl-c1">0</span>;
    std<span class="pl-k">::</span>stringstream ss;
    ss <span class="pl-k"><<</span> <span class="pl-s"><span class="pl-pds">"</span>Once per viewer loop: <span class="pl-pds">"</span></span> <span class="pl-k"><<</span> count<span class="pl-k">++</span>;
    viewer<span class="pl-k">.</span>removeShape (<span class="pl-s"><span class="pl-pds">"</span>text<span class="pl-pds">"</span></span>, <span class="pl-c1">0</span>);
    viewer<span class="pl-k">.</span>addText (ss<span class="pl-k">.</span>str(), <span class="pl-c1">200</span>, <span class="pl-c1">300</span>, <span class="pl-s"><span class="pl-pds">"</span>text<span class="pl-pds">"</span></span>, <span class="pl-c1">0</span>);

    <span class="pl-c">//FIXME: possible race condition here:</span>
    user_data<span class="pl-k">++</span>;
}

<span class="pl-k">int</span>
main ()
{

    bool showStatistics <span class="pl-k">=</span> <span class="pl-c1">true</span>;
    pcl<span class="pl-k">::</span>io<span class="pl-k">::</span><span class="pl-k">OctreePointCloudCompression<pcl:</span><span class="pl-k">:</span><span class="pl-smi">PointXYZRGBA</span><span class="pl-k">></span><span class="pl-k">*</span> <span class="pl-smi">PointCloudEncoder</span>;
    pcl<span class="pl-k">::</span>io<span class="pl-k">::</span><span class="pl-k">OctreePointCloudCompression<pcl:</span><span class="pl-k">:</span><span class="pl-smi">PointXYZRGBA</span><span class="pl-k">></span><span class="pl-k">*</span> <span class="pl-smi">PointCloudDecoder</span>;

    pcl<span class="pl-k">::</span>io<span class="pl-k">::</span>compression_Profiles_e compressionProfile <span class="pl-k">=</span> pcl<span class="pl-k">::</span>io<span class="pl-k">::</span><span class="pl-c1">LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR</span>;

    <span class="pl-c">// instantiate point cloud compression for encoding and decoding</span>
    <span class="pl-smi">PointCloudEncoder</span> <span class="pl-k">=</span> <span class="pl-k">new</span> pcl::io::<span class="pl-k">OctreePointCloudCompression<pcl:</span>:<span class="pl-smi">PointXYZRGBA</span>> (compressionProfile, showStatistics);
    <span class="pl-smi">PointCloudDecoder</span> <span class="pl-k">=</span> <span class="pl-k">new</span> pcl::io::<span class="pl-k">OctreePointCloudCompression<pcl:</span>:<span class="pl-smi">PointXYZRGBA</span>> ();

    pcl<span class="pl-k">::</span><span class="pl-k">PointCloud<pcl:</span><span class="pl-k">:</span><span class="pl-smi">PointXYZRGBA</span><span class="pl-k">></span><span class="pl-k">::</span><span class="pl-smi">Ptr</span> cloud (<span class="pl-k">new</span> pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl<span class="pl-k">::</span>io<span class="pl-k">::</span>loadPCDFile (<span class="pl-s"><span class="pl-pds">"</span>/home/yapbenzet/Documents/Untitled Folder/samp23-utm-ground.pcd<span class="pl-pds">"</span></span>, <span class="pl-k">*</span>cloud);

    pcl<span class="pl-k">::</span>visualization<span class="pl-k">::</span><span class="pl-smi">CloudViewer</span> viewer(<span class="pl-s"><span class="pl-pds">"</span>Cloud Viewer<span class="pl-pds">"</span></span>);

      std<span class="pl-k">::</span>stringstream compressedData;

      pcl<span class="pl-k">::</span><span class="pl-k">PointCloud<pcl:</span><span class="pl-k">:</span><span class="pl-smi">PointXYZRGBA</span><span class="pl-k">></span><span class="pl-k">::</span><span class="pl-smi">Ptr</span> cloudOut (<span class="pl-k">new</span> pcl::<span class="pl-k">PointCloud<pcl:</span>:<span class="pl-smi">PointXYZRGBA</span>> ());

<span class="pl-c">// datayı sıkıştırmak için kullanılıyor.</span>
      <span class="pl-smi">PointCloudEncoder</span><span class="pl-k">-</span><span class="pl-k">></span>encodePointCloud (cloud, compressedData);

      <span class="pl-smi">PointCloudDecoder</span><span class="pl-k">-</span><span class="pl-k">></span>decodePointCloud (compressedData, cloudOut);

<span class="pl-c">// Octree için aşağıdaki yorum satırlarını aktif edip yukarıdaki 2 satırı yorum satırı yapmalıyız.</span>

 <span class="pl-c">/*float resolution = 128.0f;</span>

<span class="pl-c"> 	 pcl::octree::OctreePointCloudSearch<pcl::PointXYZRGBA> octree (resolution);</span>

<span class="pl-c"> 	 octree.setInputCloud (cloud);</span>
<span class="pl-c"> 	 octree.addPointsFromInputCloud ();*/</span>

viewer<span class="pl-k">.</span>showCloud (cloud);

    viewer<span class="pl-k">.</span>runOnVisualizationThreadOnce (viewerOneOff);

    viewer<span class="pl-k">.</span>runOnVisualizationThread (viewerPsycho);
    <span class="pl-k">while</span> (<span class="pl-k">!</span>viewer<span class="pl-k">.</span>wasStopped ())
    {
    	user_data<span class="pl-k">++</span>;
    }
    <span class="pl-k">return</span> <span class="pl-c1">0</span>;
}

cmake ve make işlemlerini yapıyoruz.

cmake ..
make

Son olarak oluşturulan görünüm dosyasını çalıştırıyoruz ve aşağıdaki gibi bir çıktı elde ediyoruz.

./cloud_viewer

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