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artificial_point_cloud.cpp
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artificial_point_cloud.cpp
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/*
* artificial_point_cloud.cpp
*
* Created on: Mar 20, 2014
* Author: dbazazian
*/
//#define CUBE_POINT_CLOUD_SIMPLE // Simple cube Point cloud
//#define CUBE_POINT_CLOUD
//#define ELLIPSE_AND_Cylinder
//#define CYLINDER_B_W
//#define SPHER_VTK
//#define SPHER_PCL
// #define SPHER_MULTIPLE
//#define SPHER_BW
//#define UNIFORM_SAMPLING_SPHERE
//#define UNIFORM_SAMPLING_ELLIPSOID
//#define PARABOLOIDE_AND_CONE
//#define PARABOLOIDE_B_W
//#define SADDLE_HOURSE_FIRST
//#define SADDLE_HOURSE_SECOND
//#define HYPERBOLIC_PARABOLOID
//#define SHARP_EDGE
// #define CUBE_FOUR_EGDE
// #define CUBE_CYLINDER
// #define CUBE_WITHOUT_CYLINDER
// #define WEDGE_SHARP
// #define WEDGE_CYLINDER_NONSYM
// #define WEDGE_SYM
//#define SacModel
// #define STAIRS_THREE_CUBE
// #define FRACTAL_SEAT
// #define FRACTAL_THREE_CUBE
// #define FRACTAL_FOUR_HOLE
// #define TETRAHEDRON
// #define TETRAHEDRON_PARTITE
#define TETRAHEDRON_MULTIPLE
// #define TWO_PLANE
// #define INTERSECTION_THREEPLANE_DIFFERENTSIZES
// #define INTERSECTION_TWOPLANE // Three Planes
// #define ONE_PLANE
// #define ADD_NOISE
#ifdef PARABOLOIDE_AND_CONE
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// Creat an spher extruded along the z-axis. The colour for the XYZRGB cloud will gradually go from red to green to blue.
uint8_t r(255), g(15), b(15);
for (float z(-2.0); z <= 2.0; z += 0.0009)
{
for (float theta(0.0); theta <= 360.0; theta += 4.0)
{
// for (float phi(0.0); phi <= 180.0; phi += 4.0)
//{
pcl::PointXYZ basic_point;
basic_point.x = z * cosf (pcl::deg2rad(theta));
basic_point.y = z * sinf (pcl::deg2rad(theta));
basic_point.z = z * z ; // Paraboloide
// basic_point.z = z ; // Cone
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
//}
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
// write point cloud to disk
//pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Cone.pcd", *point_cloud_ptr);
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Paraboloid.pcd", *point_cloud_ptr);
// Show the cloud
//pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/Cone.pcd", *point_cloud_ptr);
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/Paraboloid.pcd", *point_cloud_ptr);
// pcl::visualization::CloudViewer viewer("Cone");
pcl::visualization::CloudViewer viewer("Paraboloide");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef PARABOLOIDE_B_W
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/io/ply_io.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
for (float zz(0.0000); zz <= 1.0000; zz += 0.025)
{
float DeltaZ = 0.025;
float r = sqrt (zz);
float DeltaTheta = 360/((2*3.1415*r)/DeltaZ);
for (float theta(0.0000) ; theta < 360 ; theta += DeltaTheta)
{
// for (float phi(0.0); phi <= 180.0; phi += 4.0)
//{
pcl::PointXYZ basic_point;
basic_point.x = zz * cosf (pcl::deg2rad(theta)); // cone
//basic_point.x = r * cosf (pcl::deg2rad(theta)); // Parabolide
basic_point.y = zz * sinf (pcl::deg2rad(theta)); // Cone
// basic_point.y = r * sinf (pcl::deg2rad(theta)); // parabolide
basic_point.z = zz ; // Cone
//basic_point.z = zz*zz ; // Paraboloide
cloud->points.push_back(basic_point);
}
}
for (float zz(-1.0000); zz < 0.0000; zz += 0.025)
{
float DeltaZ = 0.025;
float r = sqrt (abs(zz));
float DeltaTheta = 360/((2*3.1415*r)/DeltaZ);
for (float theta(0.0000) ; theta < 360 ; theta += DeltaTheta)
{
// for (float phi(0.0); phi <= 180.0; phi += 4.0)
//{
pcl::PointXYZ basic2_point;
basic2_point.x = zz* cosf (pcl::deg2rad(theta)); // Cone
//basic_point.x = r * cosf (pcl::deg2rad(theta)); // Parabolide
basic2_point.y = zz* sinf (pcl::deg2rad(theta)); // Cone
// basic_point.y = r * sinf (pcl::deg2rad(theta)); // parabolide
basic2_point.z = zz ; // Cone
// basic2_point.z =- (zz*zz) ; // Paraboloide
cloud->points.push_back(basic2_point);
}
}
cloud->width = (int) cloud->points.size ();
cloud->height = 1;
// write point cloud to disk
//pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Parabolid2.pcd", *cloud);
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Cone2.pcd", *cloud);
std::cout<< "Number of points in the cloud is:" << cloud ->points.size ()<< std::endl;
//Write PLY
pcl::PLYWriter writePLY;
//writePLY.write ("/Path/TO/ArtificialPointClouds/Parabolid2ply.ply", *cloud, false);
writePLY.write ("/Path/TO/ArtificialPointClouds/Cone2ply.ply", *cloud, false);
// Show the cloud
//pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/CylinderBW.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Parabolid");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef SPHER_PCL
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// Creat an spher extruded along the z-axis. The colour for the XYZRGB cloud will gradually go from red to green to blue.
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.025)
{
for (float theta(0.0); theta <= 360.0; theta += 5.0)
{
for (float phi(0.0); phi <= 180.0; phi += 5.0)
{
pcl::PointXYZ basic_point;
basic_point.x = 2* cosf (pcl::deg2rad(theta))* sinf (pcl::deg2rad(phi));
basic_point.y = 2* sinf (pcl::deg2rad(theta))* sinf (pcl::deg2rad(phi));
basic_point.z = 2* cosf (pcl::deg2rad(phi));
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
std::cout<< "Number of points in the input cloud is:" << point_cloud_ptr ->points.size ()<< std::endl;
// write point cloud to disk
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Spher.pcd", *point_cloud_ptr);
// Show the cloud
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/Spher.pcd", *point_cloud_ptr);
pcl::visualization::CloudViewer viewer(" Spher");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef SPHER_MULTIPLE
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/io/ply_io.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
float rr=1.00;
float* theta = new float [1500];
float* phi = new float [1500];
srand ( time(NULL) );
for (int j=0 ; j < 1500; j++)
{
phi[j] = float (rand() )* 360 / float (RAND_MAX);
theta[j] = float (rand() )* 180 / float (RAND_MAX);
pcl::PointXYZRGB basic_point1;
basic_point1.x = rr * ( sinf (pcl::deg2rad(phi[j]))* cosf (pcl::deg2rad(theta[j])));
basic_point1.y = rr * (sinf (pcl::deg2rad(phi[j]))* sinf (pcl::deg2rad(theta[j])));
basic_point1.z = rr * cosf (pcl::deg2rad(phi[j]));
basic_point1.r= 255;
basic_point1.g= 0;
basic_point1.b= 0;
cloud->points.push_back(basic_point1);
}
delete[] phi;
delete[] theta;
std:cout<< "cloud for the first sphere has been created " << std::endl;
float rr2=0.50;
float* theta2 = new float [800];
float* phi2 = new float [800];
srand ( time(NULL) );
for (int j=0 ; j < 750; j++)
{
phi2[j] = float (rand() )* 360 / float (RAND_MAX);
theta2[j] = float (rand() )* 180 / float (RAND_MAX);
pcl::PointXYZRGB basic_point2;
basic_point2.x = 1+ ( rr2 * ( sinf (pcl::deg2rad(phi2[j]))* cosf (pcl::deg2rad(theta2[j]))) );
basic_point2.y = ( rr2 * (sinf (pcl::deg2rad(phi2[j]))* sinf (pcl::deg2rad(theta2[j]))) );
basic_point2.z = 1+ ( rr2 * cosf (pcl::deg2rad(phi2[j])) ) ;
basic_point2.r= 0;
basic_point2.g= 255;
basic_point2.b= 0;
cloud->points.push_back(basic_point2);
}
delete[] phi2;
delete[] theta2;
float rr3=0.70;
float* theta3 = new float [1000];
float* phi3 = new float [1000];
srand ( time(NULL) );
for (int j=0 ; j < 1000; j++)
{
phi3[j] = float (rand() )* 360 / float (RAND_MAX);
theta3[j] = float (rand() )* 180 / float (RAND_MAX);
pcl::PointXYZRGB basic_point3;
basic_point3.x = ( rr3 * ( sinf (pcl::deg2rad(phi3[j]))* cosf (pcl::deg2rad(theta3[j]))) );
basic_point3.y = 1+ ( rr3 * (sinf (pcl::deg2rad(phi3[j]))* sinf (pcl::deg2rad(theta3[j]))) );
basic_point3.z = 1+ ( rr3 * cosf (pcl::deg2rad(phi3[j])) ) ;
basic_point3.r= 0;
basic_point3.g= 0;
basic_point3.b= 255;
cloud->points.push_back(basic_point3);
}
delete[] phi3;
delete[] theta3;
float rr4=0.25;
float* theta4 = new float [800];
float* phi4 = new float [800];
srand ( time(NULL) );
for (int j=0 ; j < 500; j++)
{
phi4[j] = float (rand() )* 360 / float (RAND_MAX);
theta4[j] = float (rand() )* 180 / float (RAND_MAX);
pcl::PointXYZRGB basic_point4;
basic_point4.x = 0.75+ ( rr4 * ( sinf (pcl::deg2rad(phi4[j]))* cosf (pcl::deg2rad(theta4[j]))) );
basic_point4.y = 0.75+ ( rr4 * (sinf (pcl::deg2rad(phi4[j]))* sinf (pcl::deg2rad(theta4[j]))) );
basic_point4.z = ( rr4 * cosf (pcl::deg2rad(phi4[j])) ) ;
basic_point4.r= 255;
basic_point4.g= 255;
basic_point4.b= 0;
cloud->points.push_back(basic_point4);
}
delete[] phi4;
delete[] theta4;
float rr5=0.50;
float* theta5 = new float [800];
float* phi5 = new float [800];
srand ( time(NULL) );
for (int j=0 ; j < 750; j++)
{
phi5[j] = float (rand() )* 360 / float (RAND_MAX);
theta5[j] = float (rand() )* 180 / float (RAND_MAX);
pcl::PointXYZRGB basic_point5;
basic_point5.x = -1+ ( rr5 * ( sinf (pcl::deg2rad(phi5[j]))* cosf (pcl::deg2rad(theta5[j]))) );
basic_point5.y = ( rr5 * (sinf (pcl::deg2rad(phi5[j]))* sinf (pcl::deg2rad(theta5[j]))) );
basic_point5.z = -1+ ( rr5 * cosf (pcl::deg2rad(phi5[j])) ) ;
basic_point5.r= 255;
basic_point5.g= 0;
basic_point5.b= 255;
cloud->points.push_back(basic_point5);
}
delete[] phi5;
delete[] theta5;
float rr6=0.25;
float* theta6 = new float [800];
float* phi6 = new float [800];
srand ( time(NULL) );
for (int j=0 ; j < 500; j++)
{
phi6[j] = float (rand() )* 360 / float (RAND_MAX);
theta6[j] = float (rand() )* 180 / float (RAND_MAX);
pcl::PointXYZRGB basic_point6;
basic_point6.x = ( rr6 * ( sinf (pcl::deg2rad(phi6[j]))* cosf (pcl::deg2rad(theta6[j]))) );
basic_point6.y = -0.75+ ( rr6 * (sinf (pcl::deg2rad(phi6[j]))* sinf (pcl::deg2rad(theta6[j]))) );
basic_point6.z = -0.75+ ( rr6 * cosf (pcl::deg2rad(phi6[j])) ) ;
basic_point6.r= 0;
basic_point6.g= 255;
basic_point6.b= 255;
cloud->points.push_back(basic_point6);
}
delete[] phi6;
delete[] theta6;
float rr7=0.70;
float* theta7 = new float [1000];
float* phi7 = new float [1000];
srand ( time(NULL) );
for (int j=0 ; j < 1000; j++)
{
phi7[j] = float (rand() )* 360 / float (RAND_MAX);
theta7[j] = float (rand() )* 180 / float (RAND_MAX);
pcl::PointXYZRGB basic_point7;
basic_point7.x = -1+ ( rr7 * ( sinf (pcl::deg2rad(phi7[j]))* cosf (pcl::deg2rad(theta7[j]))) );
basic_point7.y = -1+ ( rr7 * (sinf (pcl::deg2rad(phi7[j]))* sinf (pcl::deg2rad(theta7[j]))) );
basic_point7.z = ( rr7 * cosf (pcl::deg2rad(phi7[j])) ) ;
basic_point7.r= 128;
basic_point7.g= 128;
basic_point7.b= 0;
cloud->points.push_back(basic_point7);
}
delete[] phi7;
delete[] theta7;
cloud->width = (int) cloud->points.size ();
cloud->height = 1;
std::cout<< "Number of points in the input cloud is:" << cloud->points.size ()<< std::endl;
// write point cloud to disk
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/SpherMultiple.pcd", *cloud);
pcl::PLYWriter writePLY;
writePLY.write ("/Path/TO/ArtificialPointClouds/SpherMultiple.ply", *cloud, false);
// Show the cloud
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/SpherMultiple.pcd", *cloud);
pcl::visualization::CloudViewer viewer(" Spher");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef SPHER_BW
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/io/ply_io.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
// for (float z(-1.0); z <= 1.0; z += 0.3) // Sphere Radius 1
for (float z(-2.0); z <= 2.0; z += 0.3) // Sphere Radius 2
{
for (float theta(0.0); theta <= 360.0; theta += 5.0)
{
for (float phi(0.0); phi <= 180.0; phi += 5.0)
{
pcl::PointXYZ basic_point;
basic_point.x = 1* cosf (pcl::deg2rad(theta))* sinf (pcl::deg2rad(phi));
basic_point.y =1 * sinf (pcl::deg2rad(theta))* sinf (pcl::deg2rad(phi));
basic_point.z = 1 * cosf (pcl::deg2rad(phi));
cloud->points.push_back(basic_point);
}
}
}
cloud->width = (int) cloud->points.size ();
cloud->height = 1;
// write point cloud to disk
//pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/SpherRadius2.pcd", *cloud);
//Write PLY
pcl::PLYWriter writePLY;
//writePLY.write ("/Path/TO/ArtificialPointClouds/SpherRadius2ply.ply", *cloud, false);
// Show the cloud
//pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/CylinderBW.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Spher");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef ELLIPSE_AND_Cylinder
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// We're going to make an Ellipse and Cylinder extruded along the z-axis. The colour for
// the XYZRGB cloud will gradually go from red to green to blue.
uint8_t r(255), g(15), b(15);
for (float z(-2.0); z <= 2.0; z += 0.0009)
{
for (float angle(0.0); angle <= 360.0; angle += 4.0)
{
pcl::PointXYZ basic_point;
// basic_point.x = 0.5 * 2 * cosf (pcl::deg2rad(angle));
basic_point.x = 2 * cosf (pcl::deg2rad(angle));
basic_point.y = 2 * sinf (pcl::deg2rad(angle));
basic_point.z = z;
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
// write point cloud to disk
//pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Ellipse.pcd", *point_cloud_ptr);
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Cylinder.pcd", *point_cloud_ptr);
// Show the cloud
//pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/Ellipse.pcd", *point_cloud_ptr);
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/Cylinder.pcd", *point_cloud_ptr);
//pcl::visualization::CloudViewer viewer("Ellipse");
pcl::visualization::CloudViewer viewer("Cylinder");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef CYLINDER_B_W
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/io/ply_io.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
for (float z(-2.0); z <= 2.0; z += 0.09)
{
for (float angle(0.0); angle <= 360.0; angle += 1.0)
{
pcl::PointXYZ basic_point;
basic_point.x = 0.5 * 2 * cosf (pcl::deg2rad(angle));
// basic_point.x = 2 * cosf (pcl::deg2rad(angle));
basic_point.y = 2 * sinf (pcl::deg2rad(angle));
basic_point.z = z;
cloud->points.push_back(basic_point);
}
}
cloud->width = (int) cloud->points.size ();
cloud->height = 1;
// write point cloud to disk
//pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Cylinder2.pcd", *cloud);
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Elipsoid2.pcd", *cloud);
//Write PLY
pcl::PLYWriter writePLY;
//writePLY.write ("/Path/TO/ArtificialPointClouds/Cylinder2ply.ply", *cloud, false);
writePLY.write ("/Path/TO/ArtificialPointClouds/Elipsoid2ply.ply", *cloud, false);
// Show the cloud
//pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/CylinderBW.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cylinder");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef CUBE_POINT_CLOUD
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// We're going to make an Ellipse and Cylinder extruded along the z-axis. The colour for
// the XYZRGB cloud will gradually go from red to green to blue.
uint8_t r(255), g(15), b(15);
for (float z(-2.0); z <= 2.0; z += 0.0009)
{
pcl::PointCloud<pcl::PointXYZ> basic_point;
basic_point.width = 640; //307200;
basic_point.height = 480; // 1;
basic_point.is_dense = false;
basic_point.points.resize (basic_point.width * basic_point.height);
basic_cloud_ptr->resize(basic_point.points.size());
for (size_t i = 0; i < basic_point.points.size (); ++i)
{
basic_point.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
basic_point.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
basic_point.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointCloud<pcl::PointXYZRGB> point;
point.points[i].x = basic_point.points[i].x;
point.points[i].y = basic_point.points[i].y;
point.points[i].z = basic_point.points[i].z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
basic_cloud_ptr->height = 1;
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
// write point cloud to disk
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/cube.pcd", *point_cloud_ptr);
// Read the cloud
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/cube.pcd", *point_cloud_ptr);
// Show the cloud
pcl::visualization::CloudViewer viewer("cube");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef UNIFORM_SAMPLING_SPHERE
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
int main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/UniformSpher.pcd", *cloud); //download
//chang the color of cloud
for (size_t i = 0; i < cloud->size (); i++)
{
cloud->points[i].r = 255;
cloud->points[i].g = 255;
cloud->points[i].b = 255;
}
// write red point cloud to disk
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/uniform_sphere.pcd", *cloud);
// Show the cloud
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/uniform_sphere.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef UNIFORM_SAMPLING_ELLIPSOID
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
int main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/Ellipsoid.pcd", *cloud); //download
for (size_t i = 0; i < cloud->size (); i++)
{
cloud->points[i].r = 255;
cloud->points[i].g = 255;
cloud->points[i].b = 255;
}
// write red point cloud to disk
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/uniform_Ellipsoid.pcd", *cloud);
// Show the cloud
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/uniform_Ellipsoid.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef CUBE_POINT_CLOUD_SIMPLE
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
int main ()
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
//pcl::PointXYZ o;
cloud-> width = 640; //307200;
cloud-> height = 480; // 1;
cloud->is_dense = false;
cloud->points.resize (cloud->width * cloud-> height);
for (size_t i = 0; i < cloud->points.size (); ++i)
{
cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
for (size_t i = 0; i < cloud->size (); i++)
{
cloud->points[i].r = 255;
cloud->points[i].g = 0;
cloud->points[i].b = 0;
}
// write red point cloud to disk
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/cube.pcd", *cloud);
// Show the cloud
pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/cube.pcd", *cloud);
pcl::visualization::CloudViewer viewer(" Cube ");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return (0);
}
#endif
#ifdef SADDLE_HOURSE_FIRST
// Z= 1- X^2 + Y^2
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/io/ply_io.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
//for (float z(-2.0); z <= 2.0; z += 0.3)
//{
for (float theta(0.0); theta <= 360.0; theta += 5.0)
{
pcl::PointXYZ basic_point;
basic_point.x = cosf (pcl::deg2rad(theta));
basic_point.y = sinf (pcl::deg2rad(theta));
basic_point.z = 1- cosf (2*(pcl::deg2rad(theta)));
cloud->points.push_back(basic_point);
//}
}
cloud->width = (int) cloud->points.size ();
cloud->height = 1;
// write point cloud to disk
pcl::io::savePCDFile ("/Path/TO/ArtificialPointClouds/Saddlepher2.pcd", *cloud);
//Write PLY
pcl::PLYWriter writePLY;
writePLY.write ("/Path/TO/ArtificialPointClouds/Saddleply.ply", *cloud, false);
// Show the cloud
//pcl::io::loadPCDFile ("/Path/TO/ArtificialPointClouds/CylinderBW.pcd", *cloud);
pcl::visualization::CloudViewer viewer("Saddle");
viewer.showCloud(cloud);
while (!viewer.wasStopped ())
{}
return 0;
}
#endif
#ifdef SADDLE_HOURSE_SECOND
// Z= 1- X^2 + Y^2
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/io/ply_io.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
for (float zz(0.00); zz <= 2.00 ; zz += 0.25)
{
// for (float theta(-45.00); theta <= 45.00; theta += 2.00)
for (float theta(-45.00); theta <= 45.00; theta += 3.00)
{
// for (float phi(-45.00); phi <= 45.00; phi += 2.00)
for (float phi(-45.00); phi <= 45.00; phi += 3.00)
{
pcl::PointXYZ basic_point;
basic_point.x = 2* (sinf (pcl::deg2rad(theta)) / cosf (pcl::deg2rad(theta))) * ( 1/ cosf (pcl::deg2rad(phi)));
basic_point.y = sqrt (2) * ( 1/ cosf (pcl::deg2rad(theta))) * ( 1/ cosf (pcl::deg2rad(phi)));
basic_point.z = 3 * (sinf (pcl::deg2rad(phi)) / cosf (pcl::deg2rad(phi))) ;
cloud->points.push_back(basic_point);
}
}
}
// for (float zz(-3.00); zz <= 0.00; zz += 0.09)
// {
// for (float theta(-45.00); theta <= 45.00; theta += 1.00)
// {
// for (float phi(-45.00); phi <= 45.00; phi += 1.00)
// {
// pcl::PointXYZ basic_point2;
//
// basic_point2.x = 2* (sinf (pcl::deg2rad(theta)) / cosf (pcl::deg2rad(theta))) * ( 1/ cosf (pcl::deg2rad(phi)));
// basic_point2.y = - sqrt (2) * ( 1/ cosf (pcl::deg2rad(theta))) * ( 1/ cosf (pcl::deg2rad(phi)));
// basic_point2.z = zz * (sinf (pcl::deg2rad(phi)) / cosf (pcl::deg2rad(phi))) ;
// cloud->points.push_back(basic_point2);