PCL中的快速三角测量

我想在应用Passthrough过滤器后对点云进行三角测量。它编译，但查看器什么也没有显示。PCL中的快速三角测量

这里是我的源代码：

#include <boost/thread/thread.hpp> 
#include <boost/date_time/posix_time/posix_time.hpp> 
#include <pcl/point_cloud.h> 
#include <pcl/point_types.h> 
#include <pcl/io/openni_grabber.h> 
#include <pcl/io/pcd_io.h> 
#include <pcl/io/openni_camera/openni_driver.h> 
#include <pcl/surface/organized_fast_mesh.h> 
#include <pcl/console/parse.h> 
#include <pcl/common/time.h> 
#include <pcl/console/time.h> 
#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/filters/passthrough.h> 

using namespace pcl; 
using namespace pcl::visualization; 
using namespace std; 

#define FPS_CALC(_WHAT_) \ 
do \ 
{ \ 
    static unsigned count = 0;\ 
    static double last = pcl::getTime();\ 
    if (++count == 100) \ 
    { \ 
     double now = pcl::getTime(); \ 
     std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ 
     count = 0; \ 
     last = now; \ 
    } \ 
}while(false) 

template <typename PointType> 
class OpenNIFastMesh 
{ 
    public: 
    typedef pcl::PointCloud<PointType> Cloud; 
    typedef typename Cloud::Ptr CloudPtr; 
    typedef typename Cloud::ConstPtr CloudConstPtr; 

    OpenNIFastMesh (const std::string& device_id = "") 
     : device_id_(device_id), vertices_() 
    { 
     ofm.setTrianglePixelSize (3); 
     ofm.setTriangulationType (pcl::OrganizedFastMesh<PointType>::QUAD_MESH); 

     pass_.setFilterFieldName("z"); 
     pass_.setFilterLimits(0.0, 1.0); 
    } 

    void 
    cloud_cb (const CloudConstPtr& cloud) 
    { 

     FPS_CALC ("computation"); 
     boost::mutex::scoped_lock lock(mtx_); 
     cloud_ = cloud; 


    } 

    void 
    run (int argc, char **argv) 
    { 
     pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_); 

     boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIFastMesh::cloud_cb, this, _1); 
     boost::signals2::connection c = interface->registerCallback (f); 

     view.reset (new pcl::visualization::PCLVisualizer (argc, argv, "PCL OpenNI Mesh Viewer")); 

     interface->start(); 

     CloudConstPtr temp_cloud; 
     boost::shared_ptr<std::vector<pcl::Vertices> > temp_verts; 
     pcl::console::TicToc t1; 

     while (!view->wasStopped()) 

     { 

     if (!cloud_ || !mtx_.try_lock()) 
     { 
      boost::this_thread::sleep (boost::posix_time::milliseconds (1)); 
      continue; 
     } 

     //CloudPtr temp; 
     //temp.reset(new Cloud); 
     //pass_.setInputCloud(cloud_); 
     //pass_.filter(*temp); 

     ofm.setInputCloud(cloud_); 
     boost::shared_ptr<std::vector<pcl::Vertices> > temp_verts (new std::vector<pcl::Vertices>); 
     ofm.reconstruct(*temp_verts); 

     //vertices_ = temp_verts; 
     mtx_.unlock(); 

     if (!view->updatePolygonMesh<PointType> (cloud_, *vertices_, "surface")) 
     { 
      view->addPolygonMesh<PointType> (cloud_, *vertices_, "surface"); 

     } 

     FPS_CALC ("visualization"); 
     view->spinOnce (1); 
     } 

     interface->stop(); 
    } 




    pcl::OrganizedFastMesh<PointType> ofm; 
    pcl::PassThrough<PointType> pass_; 
    std::string device_id_; 

    boost::mutex mtx_; 

    CloudConstPtr cloud_; 
    boost::shared_ptr<std::vector<pcl::Vertices> > vertices_; 
    pcl::PolygonMesh::Ptr mesh_; 


    boost::shared_ptr<pcl::visualization::PCLVisualizer> view; 
}; 


int 
main (int argc, char ** argv) 
{ 

    OpenNIFastMesh<pcl::PointXYZ> v (""); 
    v.run (argc, argv); 

    return (0); 
}

我觉得probem来自互斥。

来源

2013-03-21 Amine

看功能“运行”。你已经把代码

ofm.setInputCloud(cloud_); 
    boost::shared_ptr<std::vector<pcl::Vertices> > temp_verts (new td::vector<pcl::Vertices>); 
    ofm.reconstruct(*temp_verts);

在错误的地方。

它们应该在回调函数“cloud_cb_”中，而不是“运行”中。当新的点云可用时应该被执行。

有关更多信息，请查看位于app/src/openni_fast_mash.cpp中的pcl的源文件夹。

来源

2013-05-16 13:32:30 nono

PCL中的快速三角测量

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