[done]task PointCloudLibrary#1

1,Convert RBG to intensity 2,bug: crashed
a412841321 · Sep 12, 2017 · 26e89bc · 26e89bc
1 parent c78d6b5
commit 26e89bc
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Showing 15 changed files with 146 additions and 135 deletions.
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/common_types.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/common_types.h
@@ -67,7 +67,7 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::ihs::_PointIHS,
                                    (float, normal_x, normal_x)
                                    (float, normal_y, normal_y)
                                    (float, normal_z, normal_z)
-                                   (float, rgb, rgb)
+								   (float, intensity, intensity)
                                    (float, weight, weight)
                                    (unsigned int, age, age)
                                    (uint32_t, directions, directions)

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h
@@ -72,10 +72,10 @@ namespace pcl
     {
       public:
 
-        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
-        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
-        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
-        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
+        typedef pcl::PointXYZINormal              PointXYZINormal;
+        typedef pcl::PointCloud <PointXYZINormal> CloudXYZINormal;
+        typedef CloudXYZINormal::Ptr              CloudXYZINormalPtr;
+        typedef CloudXYZINormal::ConstPtr         CloudXYZINormalConstPtr;
 
         typedef pcl::ihs::Mesh         Mesh;
         typedef pcl::ihs::MeshPtr      MeshPtr;
@@ -159,7 +159,7 @@ namespace pcl
           */
         bool
         findTransformation (const MeshConstPtr&              mesh_model,
-                            const CloudXYZRGBNormalConstPtr& cloud_data,
+                            const CloudXYZINormalConstPtr& cloud_data,
                             const Eigen::Matrix4f&           T_init,
                             Eigen::Matrix4f&                 T_final);
 
@@ -188,7 +188,7 @@ namespace pcl
           * \return Cloud containing the selected points.
           */
         CloudNormalConstPtr
-        selectDataPoints (const CloudXYZRGBNormalConstPtr& cloud_data) const;
+        selectDataPoints (const CloudXYZINormalConstPtr& cloud_data) const;
 
         /** \brief Finds the transformation that minimizes the point to plane distance from the source to the target cloud. The input clouds must be arranged to have one to one correspondences (point 0 in source corresponds to point 0 in target, point 1 in source to point 1 in target and so on).
           * \param[in] cloud_source Source cloud (data).

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/impl/common_types.hpp b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/impl/common_types.hpp
@@ -51,7 +51,7 @@ namespace pcl
     {
       PCL_ADD_POINT4D
       PCL_ADD_NORMAL4D
-      PCL_ADD_RGB
+	  PCL_ADD_INTENSITY
       float        weight;
       unsigned int age;
       uint32_t     directions;
@@ -69,8 +69,7 @@ namespace pcl
 
         this->normal_x = this->normal_y = this->normal_z = std::numeric_limits<float>::quiet_NaN ();
         this->data_n[3] = 0.f;
-
-        this->b = this->g = this->r = 0; this->a = 255;
+		this->intensity = 0;
 
         this->weight     = 0.f;
         this->age        = 0;
@@ -89,14 +88,14 @@ namespace pcl
         this->normal_z  = other.normal_z;
         this->data_n[3] = other.data_n[3];
 
-        this->rgba = other.rgba;
+		this->intensity = other.intensity;
 
         this->weight     = other.weight;
         this->age        = other.age;
         this->directions = other.directions;
       }
 
-      inline PointIHS (const pcl::PointXYZRGBNormal& other, const float weight)
+      inline PointIHS (const pcl::PointXYZINormal& other, const float weight)
       {
         this->x       = other.x;
         this->y       = other.y;
@@ -108,17 +107,17 @@ namespace pcl
         this->normal_z  = other.normal_z;
         this->data_n[3] = other.data_n[3];
 
-        this->rgba = other.rgba;
+		this->intensity = other.intensity;
 
         this->weight     = weight;
         this->age        = 0;
         this->directions = 0;
       }
 
    // inline       Eigen::Vector3i getRGBVector3i ()       {return (Eigen::Vector3i (r, g, b));}
-      inline const Eigen::Vector3i getRGBVector3i () const {return (Eigen::Vector3i (r, g, b));}
+      //inline const Eigen::Vector3i getRGBVector3i () const {return (Eigen::Vector3i (r, g, b));}
    // inline       Eigen::Vector4i getRGBVector4i ()       {return (Eigen::Vector4i (r, g, b, a));}
-      inline const Eigen::Vector4i getRGBVector4i () const {return (Eigen::Vector4i (r, g, b, a));}
+      //inline const Eigen::Vector4i getRGBVector4i () const {return (Eigen::Vector4i (r, g, b, a));}
     };
 
   } // End namespace ihs

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h
@@ -191,15 +191,27 @@ namespace pcl
 
       private:
 
-        typedef pcl::PointXYZRGBA              PointXYZRGBA;
-        typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
-        typedef CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;
-        typedef CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;
-
-        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
-        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
-        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
-        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
+#if 0
+		typedef pcl::PointXYZRGBA              PointXYZRGBA;
+		typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
+		typedef CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;
+		typedef CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;
+
+		typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
+		typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
+		typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
+		typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
+#else
+        typedef pcl::PointXYZI              PointXYZI;
+        typedef pcl::PointCloud <PointXYZI> CloudXYZI;
+        typedef CloudXYZI::Ptr              CloudXYZIPtr;
+        typedef CloudXYZI::ConstPtr         CloudXYZIConstPtr;
+
+        typedef pcl::PointXYZINormal              PointXYZINormal;
+        typedef pcl::PointCloud <PointXYZINormal> CloudXYZINormal;
+        typedef CloudXYZINormal::Ptr              CloudXYZINormalPtr;
+        typedef CloudXYZINormal::ConstPtr         CloudXYZINormalConstPtr;
+#endif
 
         typedef pcl::ihs::PointIHS         PointIHS;
         typedef pcl::ihs::CloudIHS         CloudIHS;
@@ -210,7 +222,7 @@ namespace pcl
         typedef pcl::ihs::MeshPtr      MeshPtr;
         typedef pcl::ihs::MeshConstPtr MeshConstPtr;
 
-		typedef pcl::io::OpenNI2Grabber                Grabber;
+		typedef pcl::io::OpenNI2Grabber           Grabber;
         typedef boost::shared_ptr <Grabber>       GrabberPtr;
         typedef boost::shared_ptr <const Grabber> GrabberConstPtr;
 
@@ -232,7 +244,7 @@ namespace pcl
 
         /** \brief Called when new data arries from the grabber. The grabbing - registration - integration pipeline is implemented here. */
         void
-        newDataCallback (const CloudXYZRGBAConstPtr& cloud_in);
+        newDataCallback (const CloudXYZIConstPtr& cloud_in);
 
         /** \see http://doc.qt.digia.com/qt/qwidget.html#paintEvent
           * \see http://doc.qt.digia.com/qt/opengl-overpainting.html

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/input_data_processing.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/input_data_processing.h
@@ -72,15 +72,15 @@ namespace pcl
     {
       public:
 
-        typedef pcl::PointXYZRGBA              PointXYZRGBA;
-        typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
-        typedef CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;
-        typedef CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;
+        typedef pcl::PointXYZI              PointXYZI;
+        typedef pcl::PointCloud <PointXYZI> CloudXYZI;
+        typedef CloudXYZI::Ptr              CloudXYZIPtr;
+        typedef CloudXYZI::ConstPtr         CloudXYZIConstPtr;
 
-        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
-        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
-        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
-        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
+        typedef pcl::PointXYZINormal              PointXYZINormal;
+        typedef pcl::PointCloud <PointXYZINormal> CloudXYZINormal;
+        typedef CloudXYZINormal::Ptr              CloudXYZINormalPtr;
+        typedef CloudXYZINormal::ConstPtr         CloudXYZINormalConstPtr;
 
         /** \brief Constructor */
         InputDataProcessing ();
@@ -93,9 +93,9 @@ namespace pcl
           * \note Converts from m to cm.
           */
         bool
-        segment (const CloudXYZRGBAConstPtr& cloud_in,
-                 CloudXYZRGBNormalPtr&       cloud_out,
-                 CloudXYZRGBNormalPtr&       cloud_discarded) const;
+        segment (const CloudXYZIConstPtr& cloud_in,
+                 CloudXYZINormalPtr&       cloud_out,
+                 CloudXYZINormalPtr&       cloud_discarded) const;
 
         /** \brief Calculate the normals of the input cloud.
           * \param[in] cloud_in The input cloud.
@@ -104,8 +104,8 @@ namespace pcl
           * \note Converts from m to cm.
           */
         bool
-        calculateNormals (const CloudXYZRGBAConstPtr& cloud_in,
-                          CloudXYZRGBNormalPtr&       cloud_out) const;
+        calculateNormals (const CloudXYZIConstPtr& cloud_in,
+                          CloudXYZINormalPtr&       cloud_out) const;
 
         /** @{ */
         /** \brief Points outside of X - Y - Z - min / max are discarded. The unit is cm. The min values must be smaller than the max values. */
@@ -174,7 +174,7 @@ namespace pcl
         typedef boost::shared_ptr <CloudNormals>       CloudNormalsPtr;
         typedef boost::shared_ptr <const CloudNormals> CloudNormalsConstPtr;
 
-        typedef pcl::IntegralImageNormalEstimation <PointXYZRGBA, Normal> NormalEstimation;
+        typedef pcl::IntegralImageNormalEstimation <PointXYZI, Normal> NormalEstimation;
         typedef boost::shared_ptr <NormalEstimation>                      NormalEstimationPtr;
         typedef boost::shared_ptr <const NormalEstimation>                NormalEstimationConstPtr;
 

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/integration.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/integration.h
@@ -72,10 +72,10 @@ namespace pcl
     {
       public:
 
-        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
-        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
-        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
-        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
+        typedef pcl::PointXYZINormal              PointXYZINormal;
+        typedef pcl::PointCloud <PointXYZINormal> CloudXYZINormal;
+        typedef CloudXYZINormal::Ptr              CloudXYZINormalPtr;
+        typedef CloudXYZINormal::ConstPtr         CloudXYZINormalConstPtr;
 
         typedef pcl::ihs::Mesh            Mesh;
         typedef pcl::ihs::MeshPtr         MeshPtr;
@@ -92,7 +92,7 @@ namespace pcl
           * \return true if success.
           */
         bool
-        reconstructMesh (const CloudXYZRGBNormalConstPtr& cloud_data,
+        reconstructMesh (const CloudXYZINormalConstPtr& cloud_data,
                          MeshPtr&                         mesh_model) const;
 
         /** \brief Merge the organized cloud into the mesh.
@@ -102,7 +102,7 @@ namespace pcl
           * \return true if success.
           */
         bool
-        merge (const CloudXYZRGBNormalConstPtr& cloud_data,
+        merge (const CloudXYZINormalConstPtr& cloud_data,
                MeshPtr&                         mesh_model,
                const Eigen::Matrix4f&           T) const;
 

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h
@@ -106,15 +106,15 @@ namespace pcl
 
       private:
 
-        typedef pcl::PointXYZRGBA              PointXYZRGBA;
-        typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
-        typedef CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;
-        typedef CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;
+        typedef pcl::PointXYZI              PointXYZI;
+        typedef pcl::PointCloud <PointXYZI> CloudXYZI;
+        typedef CloudXYZI::Ptr              CloudXYZIPtr;
+        typedef CloudXYZI::ConstPtr         CloudXYZIConstPtr;
 
-        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
-        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
-        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
-        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
+        typedef pcl::PointXYZINormal              PointXYZINormal;
+        typedef pcl::PointCloud <PointXYZINormal> CloudXYZINormal;
+        typedef CloudXYZINormal::Ptr              CloudXYZINormalPtr;
+        typedef CloudXYZINormal::ConstPtr         CloudXYZINormalConstPtr;
 
         typedef pcl::ihs::Mesh         Mesh;
         typedef pcl::ihs::MeshPtr      MeshPtr;
@@ -124,7 +124,7 @@ namespace pcl
         typedef boost::shared_ptr <Integration>       IntegrationPtr;
         typedef boost::shared_ptr <const Integration> IntegrationConstPtr;
 
-        typedef pcl::IntegralImageNormalEstimation <PointXYZRGBA, PointXYZRGBNormal> NormalEstimation;
+        typedef pcl::IntegralImageNormalEstimation <PointXYZI, PointXYZINormal> NormalEstimation;
         typedef boost::shared_ptr <NormalEstimation>                                 NormalEstimationPtr;
         typedef boost::shared_ptr <const NormalEstimation>                           NormalEstimationConstPtr;
 
@@ -173,7 +173,7 @@ namespace pcl
           */
         bool
         load (const std::string&    filename,
-              CloudXYZRGBNormalPtr& cloud,
+              CloudXYZINormalPtr& cloud,
               Eigen::Matrix4f&      T) const;
 
         /** \see http://doc.qt.digia.com/qt/qwidget.html#paintEvent

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h
@@ -110,10 +110,10 @@ namespace pcl
 
       public:
 
-        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
-        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
-        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
-        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
+        typedef pcl::PointXYZINormal              PointXYZINormal;
+        typedef pcl::PointCloud <PointXYZINormal> CloudXYZINormal;
+        typedef CloudXYZINormal::Ptr              CloudXYZINormalPtr;
+        typedef CloudXYZINormal::ConstPtr         CloudXYZINormalConstPtr;
 
         typedef pcl::ihs::Mesh         Mesh;
         typedef pcl::ihs::MeshPtr      MeshPtr;
@@ -193,7 +193,7 @@ namespace pcl
           * \note This method takes some time for the conversion).
           */
         bool
-        addMesh (const CloudXYZRGBNormalConstPtr& cloud, const std::string& id, const Eigen::Isometry3d& T = Eigen::Isometry3d::Identity ());
+        addMesh (const CloudXYZINormalConstPtr& cloud, const std::string& id, const Eigen::Isometry3d& T = Eigen::Isometry3d::Identity ());
 
         /** \brief Remove the mesh with the given id.
           * \param[in] id Identifier of the mesh (results in a failure if the id does not exist).
@@ -331,7 +331,7 @@ namespace pcl
         typedef Eigen::Matrix <unsigned char, 3, Eigen::Dynamic> Colors;
         typedef Eigen::Matrix <unsigned char, 3, 256           > Colormap;
 
-        typedef boost::unordered_map <std::string, CloudXYZRGBNormalPtr> CloudXYZRGBNormalMap;
+        typedef boost::unordered_map <std::string, CloudXYZINormalPtr> CloudXYZINormalMap;
 
         typedef pcl::ihs::PointIHS         PointIHS;
         typedef pcl::ihs::CloudIHS         CloudIHS;

diff --git a/apps/in_hand_scanner/src/icp.cpp b/apps/in_hand_scanner/src/icp.cpp
@@ -154,7 +154,7 @@ pcl::ihs::ICP::getMaxAngle () const
 
 bool
 pcl::ihs::ICP::findTransformation (const MeshConstPtr&              mesh_model,
-                                   const CloudXYZRGBNormalConstPtr& cloud_data,
+                                   const CloudXYZINormalConstPtr& cloud_data,
                                    const Eigen::Matrix4f&           T_init,
                                    Eigen::Matrix4f&                 T_final)
 {
@@ -399,12 +399,12 @@ pcl::ihs::ICP::selectModelPoints (const MeshConstPtr&    mesh_model,
 ////////////////////////////////////////////////////////////////////////////////
 
 pcl::ihs::ICP::CloudNormalConstPtr
-pcl::ihs::ICP::selectDataPoints (const CloudXYZRGBNormalConstPtr& cloud_data) const
+pcl::ihs::ICP::selectDataPoints (const CloudXYZINormalConstPtr& cloud_data) const
 {
   const CloudNormalPtr cloud_data_out (new CloudNormal ());
   cloud_data_out->reserve (cloud_data->size ());
 
-  CloudXYZRGBNormal::const_iterator it_in = cloud_data->begin ();
+  CloudXYZINormal::const_iterator it_in = cloud_data->begin ();
   for (; it_in!=cloud_data->end (); ++it_in)
   {
     if (!boost::math::isnan (it_in->x))

diff --git a/apps/in_hand_scanner/src/in_hand_scanner.cpp b/apps/in_hand_scanner/src/in_hand_scanner.cpp
@@ -285,7 +285,7 @@ pcl::ihs::InHandScanner::keyPressEvent (QKeyEvent* event)
 ////////////////////////////////////////////////////////////////////////////////
 
 void
-pcl::ihs::InHandScanner::newDataCallback (const CloudXYZRGBAConstPtr& cloud_in)
+pcl::ihs::InHandScanner::newDataCallback (const CloudXYZIConstPtr& cloud_in)
 {
   Base::calcFPS (computation_fps_); // Must come before the lock!
 
@@ -295,11 +295,11 @@ pcl::ihs::InHandScanner::newDataCallback (const CloudXYZRGBAConstPtr& cloud_in)
   pcl::StopWatch sw;
 
   // Input data processing
-  CloudXYZRGBNormalPtr cloud_data;
-  CloudXYZRGBNormalPtr cloud_discarded;
+  CloudXYZINormalPtr cloud_data;
+  CloudXYZINormalPtr cloud_discarded;
   if (running_mode_ == RM_SHOW_MODEL)
   {
-    cloud_data = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+    cloud_data = CloudXYZINormalPtr (new CloudXYZINormal ());
   }
   else if (running_mode_ == RM_UNPROCESSED)
   {
@@ -332,7 +332,7 @@ pcl::ihs::InHandScanner::newDataCallback (const CloudXYZRGBAConstPtr& cloud_in)
                 << "  - time reconstruct mesh          : "
                 << std::setw (8) << std::right << sw.getTime () << " ms\n";
 
-      cloud_data = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+      cloud_data = CloudXYZINormalPtr (new CloudXYZINormal ());
       ++iteration_;
     }
     else
@@ -364,7 +364,7 @@ pcl::ihs::InHandScanner::newDataCallback (const CloudXYZRGBAConstPtr& cloud_in)
         std::cerr << "  - time mesh processing           : "
                   << std::setw (8) << std::right << sw.getTime () << " ms\n";
 
-        cloud_data = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+        cloud_data = CloudXYZINormalPtr (new CloudXYZINormal ());
         ++iteration_;
       }
     }
@@ -488,7 +488,7 @@ pcl::ihs::InHandScanner::startGrabberImpl ()
   lock.lock ();
   if (destructor_called_) return;
 
-  boost::function <void (const CloudXYZRGBAConstPtr&)> new_data_cb = boost::bind (&pcl::ihs::InHandScanner::newDataCallback, this, _1);
+  boost::function <void (const CloudXYZIConstPtr&)> new_data_cb = boost::bind (&pcl::ihs::InHandScanner::newDataCallback, this, _1);
   new_data_connection_ = grabber_->registerCallback (new_data_cb);
   grabber_->start ();