| Line 35... |
Line 35... |
| 35 |
// this leads to a segfault on OS X
|
35 |
// this leads to a segfault on OS X
|
| 36 |
visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
|
36 |
visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
|
| 37 |
#endif
|
37 |
#endif
|
| 38 |
|
38 |
|
| 39 |
// Initialize point cloud color handler
|
39 |
// Initialize point cloud color handler
|
| 40 |
colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>();
|
40 |
colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();
|
| 41 |
|
41 |
|
| 42 |
updateCalibrationParameters();
|
42 |
updateCalibrationParameters();
|
| 43 |
//time.start();
|
43 |
//time.start();
|
| 44 |
}
|
44 |
}
|
| 45 |
|
45 |
|
| Line 116... |
Line 116... |
| 116 |
// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);
|
116 |
// pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);
|
| 117 |
// } else if(type == "ply"){
|
117 |
// } else if(type == "ply"){
|
| 118 |
// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
|
118 |
// //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
|
| 119 |
// pcl::PLYWriter w;
|
119 |
// pcl::PLYWriter w;
|
| 120 |
// // Write to ply in binary without camera
|
120 |
// // Write to ply in binary without camera
|
| 121 |
// w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);
|
121 |
// w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
|
| 122 |
// } else if(type == "vtk"){
|
122 |
// } else if(type == "vtk"){
|
| 123 |
// pcl::PCLPointCloud2 pointCloud2;
|
123 |
// pcl::PCLPointCloud2 pointCloud2;
|
| 124 |
// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);
|
124 |
// pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);
|
| 125 |
// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);
|
125 |
// pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);
|
| 126 |
|
126 |
|
| Line 134... |
Line 134... |
| 134 |
// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");
|
134 |
// pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");
|
| 135 |
// } else if(type == "txt"){
|
135 |
// } else if(type == "txt"){
|
| 136 |
// std::ofstream s(fileName.toLocal8Bit());
|
136 |
// std::ofstream s(fileName.toLocal8Bit());
|
| 137 |
// for(unsigned int r=0; r<pointCloudPCL->height; r++){
|
137 |
// for(unsigned int r=0; r<pointCloudPCL->height; r++){
|
| 138 |
// for(unsigned int c=0; c<pointCloudPCL->width; c++){
|
138 |
// for(unsigned int c=0; c<pointCloudPCL->width; c++){
|
| 139 |
// pcl::PointXYZRGB p = pointCloudPCL->at(c, r);
|
139 |
// pcl::PointXYZRGBNormal p = pointCloudPCL->at(c, r);
|
| 140 |
// if(p.x == p.x)
|
140 |
// if(p.x == p.x)
|
| 141 |
// s << p.x << " " << p.y << " " << p.z << "\r\n";
|
141 |
// s << p.x << " " << p.y << " " << p.z << "\r\n";
|
| 142 |
// }
|
142 |
// }
|
| 143 |
// }
|
143 |
// }
|
| 144 |
// std::flush(s);
|
144 |
// std::flush(s);
|