libpcl

事前準備

Ubuntu マシンを準備

Ubuntu でインストール済みのパッケージを最新のものにアップデートする操作を行っておく．

端末で次のように操作する。

◆ Ubuntu の場合の操作手順

sudo apt-get update sudo apt-get -yV upgrade sudo shutdown -r now

Ubuntu で libpcl-1.7-all をインストール

sudo apt -y update sudo apt -y install libpcl-1.7-all

動作確認

Writing PCD Cloud data to PCD files

ここで行うこと：「Writing PCD Cloud data to PCD files」を動作させて、libpcl のインストールがうまく行ったことを確認する．

/tmp/pcd_write.cpp の作成

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>

int
  main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 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);
  }

  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
  std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;

  for (size_t i = 0; i < cloud.points.size (); ++i)
    std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

  return (0);
}

/tmp/CMakeLists.txt の作成

cmake_minimum_required(VERSION 2.8)
project(pcd_write)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (pcd_write pcd_write.cpp)
target_link_libraries (pcd_write ${PCL_LIBRARIES})

cmake を実行してみる

cd /tmp mkdir build cd build cmake ..

コンパイルしてみる

make

実行してみる

./pcd_write

OpenNI Viewer Simple

付属の付属のソースコード visualization/tools/openni_viewer_simple.cpp をコンパイルしてみる

出展： http://www.pointclouds.org/documentation/tutorials/openni_grabber.php#openni-grabber

/tmp/openni_viewer_simple.cpp の作成

 
 #include<pcl/io/openni_grabber.h>
 #include<pcl/visualization/cloud_viewer.h>

 class SimpleOpenNIViewer
 {
   public:
     SimpleOpenNIViewer () : viewer ("PCL OpenNI Viewer") {}

     void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud)
     {
       if (!viewer.wasStopped())
         viewer.showCloud (cloud);
     }

     void run ()
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber();

       boost::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
         boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);

       interface->registerCallback (f);

       interface->start ();

       while (!viewer.wasStopped())
       {
         boost::this_thread::sleep (boost::posix_time::seconds (1));
       }

       interface->stop ();
     }

     pcl::visualization::CloudViewer viewer;
 };

 int main ()
 {
   SimpleOpenNIViewer v;
   v.run ();
   return 0;
 }

/tmp/CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(openni_viewer_simple)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (openni_viewer_simple openni_viewer_simple.cpp)
target_link_libraries (openni_viewer_simple ${PCL_LIBRARIES})

cmake を実行してみる

cd /tmp mkdir build cd build cmake ..

コンパイルしてみる

make

実行してみる

./openni_viewer_simple

最初、何も映らなくて不安になるが、マウスを使って視野を回転させると、データが見える（はず）。このとき Kinect の緑のランプは点滅状態

OpenNI Grabber

付属の付属のソースコード visualization/tools/openni_viewer_simple.cpp をコンパイルしてみる

出展： http://www.pointclouds.org/documentation/tutorials/openni_grabber.php#openni-grabber

/tmp/openni_grabber.cpp

#include<pcl/point_cloud.h>
#include<pcl/point_types.h>
#include<pcl/io/openni_grabber.h>
#include<pcl/common/time.h>
#include<pcl/visualization/cloud_viewer.h>

class SimpleOpenNIProcessor
{
public:
  SimpleOpenNIProcessor() : viewer("") {}; 

  void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud)
  {
    static unsigned count = 0;
    static double last = pcl::getTime ();
       if (!viewer.wasStopped())
         viewer.showCloud (cloud);

    if (++count == 30)
    {
      double now = pcl::getTime ();
      std::cout << "distance of center pixel :" << cloud->points [(cloud->width >> 1) * (cloud->height + 1)].z << " mm. Average framerate: " << double(count)/double(now - last) << " Hz" <<  std::endl;
      count = 0;
      last = now;
    }
  }
  
  void run ()
  {
    // create a new grabber for OpenNI devices
    pcl::Grabber* interface = new pcl::OpenNIGrabber();

    // make callback function from member function
    boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
      boost::bind (&SimpleOpenNIProcessor::cloud_cb_, this, _1);

    // connect callback function for desired signal. In this case its a point cloud with color values
    boost::signals2::connection c = interface->registerCallback (f);

    // start receiving point clouds
    interface->start ();

    // wait until user quits program with Ctrl-C, but no busy-waiting -> sleep (1);
    while (!viewer.wasStopped()) {
      boost::this_thread::sleep (boost::posix_time::seconds (1));
    }
    // stop the grabber
    interface->stop ();
  }

  pcl::visualization::CloudViewer viewer;
};

int main ()
{
  SimpleOpenNIProcessor v;
  v.run ();
  return (0);
}

/tmp/CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(openni_grabber)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (openni_grabber openni_grabber.cpp)
target_link_libraries (openni_grabber ${PCL_LIBRARIES})

cmake を実行してみる

cd /tmp mkdir build cd build cmake ..

コンパイルしてみる

make

実行してみる

./openni_grabber

(1) Recording datasets: Provided sample project data_capture http://www.openni.org/Downloads/OpenNIModules.aspx NiViewer in OpenNI Binaries to record *.ONI files (audio + video) (2) Tutorials: http://www.pointclouds.org/documentation/tutorials/ (3) API: http://docs.pointclouds.org/ (4) PCL mailing list and forum(!): http://www.pcl-users.org/ (5) PCL Blog: http://www.pointclouds.org/blog Documentation of current code sprints (3month projects)