point-cloud-library

问题 Let's say I initialize a point-cloud. I want to store its RGB channels in opencv's Mat data-type. How can I do that? pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>); //Create a new cloud pcl::io::loadPCDFile<pcl::PointXYZRGBA> ("cloud.pcd", *cloud); 回答1: I know how to convert from Mat(3D Image) to XYZRGB. I think you can figure out the other way. Here Q is disparity to depth Matrix. pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl:

问题 I need help in applying a Gaussian Kernel on my points cloud to smooth the cloud. I could not figure out how I should write the code and I could not find any plain examples. Update: I am using Point Cloud Library (pcl): pcl::io::loadPCDFile ("/home/..../2240.pcd", *raw_cloud); Eigen::VectorXf horizontal; //Set up the Gaussian Kernel pcl::GaussianKernel<pcl::PointXYZRGB> gaussianKernel; gaussianKernel.compute(5,horizontal,40); pcl::filters::Convolution<pcl::PointXYZRGB> conv; conv

问题 I am trying to compile the Point Cloud Library from source on OSX 10.6.8, and I keep running up against the same error with the Boost libraries: ! make Linking CXX shared library ../lib/libpcl_common.dylib Undefined symbols: "boost::thread::start_thread_noexcept()", referenced from: boost::thread::thread<boost::_bi::bind_t<void, boost::_mfi::mf0<void, pcl::TimeTrigger>, boost::_bi::list1<boost::_bi::value<pcl::TimeTrigger*> > > >(boost::_bi::bind_t<void, boost::_mfi::mf0<void, pcl:

问题 Trying to build PCL on VS2012 in Windows 8.1 so I can attempt to integrate my Kinect for Windows v2 sensor with it, however I seem to be running into a bunch of CMake errors that I don't know what to do with. this is partially because I am not very familiar with CMake, and so I am following the tutorial here which outlines the building of dependencies using the CMake GUI. However, throughout this process I have found that the only things that have built properly are the ones I build using

问题 Trying to build PCL on VS2012 in Windows 8.1 so I can attempt to integrate my Kinect for Windows v2 sensor with it, however I seem to be running into a bunch of CMake errors that I don't know what to do with. this is partially because I am not very familiar with CMake, and so I am following the tutorial here which outlines the building of dependencies using the CMake GUI. However, throughout this process I have found that the only things that have built properly are the ones I build using

问题 I have found the centroid and the eigenvectors of a cluster. How can I draw the vector from the centroid in pcl visualizer. Eigen::Vector4f centroid; Eigen::Matrix3f covariance_matrix; // Extract the eigenvalues and eigenvectors Eigen::Vector3f eigen_values; Eigen::Matrix3f eigen_vectors; pcl::compute3DCentroid(*cloud_filtered,cluster_indices[i],centroid); // Compute the 3x3 covariance matrix pcl::computeCovarianceMatrix (*cloud_filtered, centroid, covariance_matrix); pcl::eigen33 (covariance

问题 I´m trying to align 2 sets of point clouds using the Iterative Closest Point (ICP) algorithm integrated within Point Cloud Library (PCL). I´m getting an error report saying that it cant find enough correspondence points. I have already relaxed the conditions for the parameters: setEuclideanFitnessEpsilon(-1.797e+5), setMaximumIterations(40) and setRANSACIterations(2000) and still having the same problem.. (I havent found much info about which or how these conditional values should be for a

问题 I'm using OpenCV 2.4.2 and Point Cloud Library 1.6.0. My program is working fine until I add the line... #include <pcl/segmentation/segment_differences.h> This causes errors when I try to compile. I get... Error 93 error C2872: 'flann' : ambiguous symbol C:\Program Files (x86)\PCL 1.6.0\include\pcl-1.6\pcl\kdtree\kdtree_flann.h 424 Error 94 error C2872: 'flann' : ambiguous symbol C:\Program Files (x86)\PCL 1.6.0\include\pcl-1.6\pcl\kdtree\kdtree_flann.h 425 Error 95 error C2872: 'flann' :

问题 I have a point of the type pcl::PointXYZRGBA . How can I assign/change its rgb values? For changing xyz coordinates, I can simply do point.x = some_value . 回答1: Or just use point.r = 255; point.b = 0; point.g = 0; point.a = 255; 回答2: You can use pcl::PointXYZRGB instead of pcl::PointXYZRGBA . I think they both do the same. And then to color a point red (255,0,0), you can do: pcl::PointXYZRGB point = pcl::PointXYZRGB(255, 0, 0); And the xyz-coordinates can then be assigned respectively: point

问题 I have a point of the type pcl::PointXYZRGBA . How can I assign/change its rgb values? For changing xyz coordinates, I can simply do point.x = some_value . 回答1: Or just use point.r = 255; point.b = 0; point.g = 0; point.a = 255; 回答2: You can use pcl::PointXYZRGB instead of pcl::PointXYZRGBA . I think they both do the same. And then to color a point red (255,0,0), you can do: pcl::PointXYZRGB point = pcl::PointXYZRGB(255, 0, 0); And the xyz-coordinates can then be assigned respectively: point