main.cpp File Reference

#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <fstream>
#include <iostream>
#include <sstream>
#include <vector>
#include "hc.h"
#include "msd.h"
#include "mst.h"
#include "smoothenCloud.h"

Include dependency graph for main.cpp:

Go to the source code of this file.

Classes
struct	hc_params
struct	rgb_t
class	Point

Functions
void	visualizeTriplets (pcl::visualization::PCLVisualizer &viewer, pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, std::vector< hc::triplet > const &triplets)
void	visualizeClusterAsMst (pcl::visualization::PCLVisualizer &viewer, pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, Cluster const &cluster)
Cluster	use_hc (pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, std::vector< hc::triplet > triplets, float scale, float cdist, size_t cleanup_min_triplets, int opt_verbose=0)
void	colorByIndex (pcl::PointCloud< pcl::PointXYZ >::ConstPtr cloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_rgb)
void	colorByIntensity (pcl::PointCloud< pcl::PointXYZI >::ConstPtr cloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_rgb, float minIntensity=0.0f, float maxIntensity=4000.0f)
void	colorByCluster (pcl::PointCloud< pcl::PointXYZ >::ConstPtr cloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_rgb, Cluster const cluster, std::vector< rgb_t > const cluster_rgb)
std::vector< rgb_t >	createClusterColour (pcl::PointCloud< pcl::PointXYZ >::ConstPtr cloud, Cluster const cluster)
void	clustersToGnuplot (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, Cluster const cluster, std::vector< rgb_t > cluster_rgb)
void	clustersToGnuplot (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)
void	debugGnuplot (pcl::PointCloud< pcl::PointXYZI >::Ptr cloud_smooth, pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, const char *fname="debug_smoothed.gnuplot")
void	clustersToCSV (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, Cluster const cluster)
void	cloudToCSV (pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, const char *fname="debug_smoothed.csv")
int	main (int argc, char **argv)

Variables
const char *	usage

Function Documentation

cloudToCSV()

void cloudToCSV	(	pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud,
		const char *	fname = "debug_smoothed.csv"
	)

Definition at line 479 of file main.cpp.

clustersToCSV()

void clustersToCSV	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		Cluster const	cluster
	)

Definition at line 433 of file main.cpp.

clustersToGnuplot() [1/2]

void clustersToGnuplot	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		Cluster const	cluster,
		std::vector< rgb_t >	cluster_rgb
	)

Definition at line 301 of file main.cpp.

clustersToGnuplot() [2/2]

void clustersToGnuplot

(

pcl::PointCloud< pcl::PointXYZRGB >::Ptr

cloud

)

Definition at line 365 of file main.cpp.

colorByCluster()

void colorByCluster	(	pcl::PointCloud< pcl::PointXYZ >::ConstPtr	cloud,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_rgb,
		Cluster const	cluster,
		std::vector< rgb_t > const	cluster_rgb
	)

Definition at line 240 of file main.cpp.

colorByIndex()

void colorByIndex	(	pcl::PointCloud< pcl::PointXYZ >::ConstPtr	cloud,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_rgb
	)

Definition at line 208 of file main.cpp.

colorByIntensity()

void colorByIntensity	(	pcl::PointCloud< pcl::PointXYZI >::ConstPtr	cloud,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_rgb,
		float	minIntensity = 0.0f,
		float	maxIntensity = 4000.0f
	)

Definition at line 223 of file main.cpp.

createClusterColour()

std::vector<rgb_t> createClusterColour	(	pcl::PointCloud< pcl::PointXYZ >::ConstPtr	cloud,
		Cluster const	cluster
	)

Definition at line 272 of file main.cpp.

debugGnuplot()

void debugGnuplot	(	pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud_smooth,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud,
		const char *	fname = "debug_smoothed.gnuplot"
	)

Definition at line 387 of file main.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 495 of file main.cpp.

use_hc()

Cluster use_hc	(	pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud,
		std::vector< hc::triplet >	triplets,
		float	scale,
		float	cdist,
		size_t	cleanup_min_triplets,
		int	opt_verbose = 0
	)

Definition at line 196 of file main.cpp.

visualizeClusterAsMst()

void visualizeClusterAsMst	(	pcl::visualization::PCLVisualizer &	viewer,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud,
		Cluster const &	cluster
	)

Definition at line 124 of file main.cpp.

visualizeTriplets()

void visualizeTriplets	(	pcl::visualization::PCLVisualizer &	viewer,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud,
		std::vector< hc::triplet > const &	triplets
	)

Definition at line 88 of file main.cpp.

Variable Documentation

usage

const char* usage

Initial value:

=
    "Usage:\n"
    "\tcloud_viewer [options] <infile>\n"
    "Options (defaults in brackets):\n"
    "\t-gnuplot       print result as a gnuplot command\n"
    "\t-r <radius>    radius for point smoothing [7.0]\n"
    "\t               (when negative, it is set to dNN)\n"
    "\t-k <n>         number of nearest neighbours used for creating triplets\n"
    "\t               [19]\n"
    "\t-n <n>         number of the best triplets to use [3]\n"
    "\t-a <alpha>     maximum angle between the lines in a triplet [0.015]\n"
    "\t-s <scale>     scalingfactor for clustering [1.0]\n"
    "\t-t <dist>      best cluster distance [5.0]\n"
    "\t-m <n>         minimum number of triplets for a cluster [5]\n"
    "\t-o <outfile>   write results to <outfile>\n"
    "\t-x11           show interactive window with clustering\n"
    "\t-v <n>         be verbose and save debug trace to file. n is the\n"
    "\t               verbose depth\n"
    "Version:\n"
    "\t1.0 from 2018-03-27"

Definition at line 24 of file main.cpp.