python pcl学习入门

秒速五厘米 2022-09-09 02:21 288阅读 0赞

源码地址：

[https://github.com/strawlab/python-pcl][https_github.com_strawlab_python-pcl]

pcd可视化：

# -*- coding: utf-8 -*-
    # Point cloud library
    import pcl
    import pcl.pcl_visualization
    
    # Opencv
    # import opencv
    import cv2
    
    
    def main():
    
        a = 22
        b = 12
        c = 10
    
        # PCL Visualizer to view the pointcloud
        # pcl::visualization::PCLVisualizer viewer ("Simple visualizing window");
        viewer = pcl.pcl_visualization.PCLVisualizering()
    
        # int main (int argc, char** argv)
        # {
        #   pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
        #   pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZRGBA>);
        #   if (pcl::io::loadPLYFile<pcl::PointXYZRGBA> (argv[1], *cloud) == -1) //* load the ply file from command line
        #   {
        #       PCL_ERROR ("Couldn't load the file\n");
        #       return (-1);
        #   }
        # cloud = pcl.load("lamppost.pcd")
        # cloud = pcl.load("Tile_173078_LD_010_017_L22.obj")
        cloud = pcl.load("official/Surface/bun0.pcd")
    
        # pcl::copyPointCloud( *cloud,*cloud_filtered);
        # cloud_filtered = cloud.copyPointCloud()
        cloud_filtered = cloud
    
        # float i
        # float j
        # float k
    
        # cv::namedWindow("picture");
        # // Creating trackbars uisng opencv to control the pcl filter limits
        # cvCreateTrackbar("X_limit", "picture", &a, 30, NULL);
        # cvCreateTrackbar("Y_limit", "picture", &b, 30, NULL);
        # cvCreateTrackbar("Z_limit", "picture", &c, 30, NULL);
        # cv2.CreateTrackbar("X_limit", "picture", a, 30)
        # cv2.CreateTrackbar("Y_limit", "picture", b, 30)
        # cv2.CreateTrackbar("Z_limit", "picture", c, 30)
    
        # // Starting the while loop where we continually filter with limits using trackbars and display pointcloud
        # char last_c = 0;
        last_c = 0
    
        # while(true && (last_c != 27))
        while last_c != 27:
    
            # pcl::copyPointCloud(*cloud_filtered, *cloud);
            # // i,j,k Need to be adjusted depending on the pointcloud and its xyz limits if used with new pointclouds.
            i = 0.1 * a
            j = 0.1 * b
            k = 0.1 * c
    
            # Printing to ensure that the passthrough filter values are changing if we move trackbars.
            # cout << "i = " << i << " j = " << j << " k = " << k << endl;
            print("i = " + str(i) + " j = " + str(j) + " k = " + str(k))
    
            # Applying passthrough filters with XYZ limits
            # pcl::PassThrough<pcl::PointXYZRGBA> pass;
            # pass.setInputCloud (cloud);
            # pass.setFilterFieldName ("y");
            # //  pass.setFilterLimits (-0.1, 0.1);
            # pass.setFilterLimits (-k, k);
            # pass.filter (*cloud);
            pass_th = cloud.make_passthrough_filter()
            pass_th.set_filter_field_name("y")
            pass_th.set_filter_limits(-k, k)
            cloud = pass_th.filter()
    
            # pass.setInputCloud (cloud);
            # pass.setFilterFieldName ("x");
            # // pass.setFilterLimits (-0.1, 0.1);
            # pass.setFilterLimits (-j, j);
            # pass.filter (*cloud);
            # pass_th.setInputCloud(cloud)
            pass_th.set_filter_field_name("x")
            pass_th.set_filter_limits(-j, j)
            cloud = pass_th.filter()
    
            # pass.setInputCloud (cloud);
            # pass.setFilterFieldName ("z");
            # //  pass.setFilterLimits (-10, 10);
            # pass.setFilterLimits (-i, i);
            # pass.filter (*cloud);
            # pass_th.setInputCloud(cloud)
            pass_th.set_filter_field_name("z")
            pass_th.set_filter_limits(-10, 10)
            cloud = pass_th.filter()
    
            # // Visualizing pointcloud
            # viewer.addPointCloud (cloud, "scene_cloud");
            # viewer.spinOnce();
            # viewer.removePointCloud("scene_cloud");
            viewer.AddPointCloud(cloud, b'scene_cloud', 0)
            viewer.SpinOnce()
            # viewer.Spin()
            viewer.RemovePointCloud(b'scene_cloud', 0)
    
    
    if __name__ == "__main__":
        # import cProfile
        # cProfile.run('main()', sort='time')
        main()

[https_github.com_strawlab_python-pcl]: https://github.com/strawlab/python-pcl