I have been trying to understand pcl::CropBoX
filter and that's why have been experimenting with that.
However, while doing so, I came across this issue:
pcl::CropBox
filterBut, in the visualizer, for step 4, I could see only a blank screen!
Here is my code, main.cpp
:
#include <iostream>
#include <string>
#include <vector>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/common.h>
#include <pcl/filters/crop_box.h>
int main()
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr
main_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>),
cropped_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
// setting the dimension of a point cloud
float x_start = 0.25, x_end = 1.25, x_resolution = 0.05;
float y_start = 0.5, y_end = 2.0, y_resolution = 0.05;
float z_start = 0.0, z_end = 1.25, z_resolution = 0.05;
pcl::PointXYZRGB pt;
// generating a point cloud
for (float i = x_start; i < x_end; i += x_resolution)
{
for (float j = y_start; j < y_end; j += y_resolution)
{
for (float k = z_start; k < z_end; k += z_resolution)
{
pt.x = i;
pt.y = j;
pt.z = k;
pt.r = i * 100;
pt.g = 200;
pt.b = j * 100;
main_cloud_ptr->points.push_back(pt);
}
}
}
std::cout << main_cloud_ptr->points.size() << "\n";
// visualizing a main point cloud
pcl::visualization::CloudViewer viewer1("main_cloud_ptr viewer - cube");
viewer1.showCloud(main_cloud_ptr);
while (!viewer1.wasStopped())
{
}
// getting minimum & maximum x, y, and z values of a point cloud
pcl::PointXYZRGB min_pt, max_pt;
pcl::getMinMax3D(*main_cloud_ptr, min_pt, max_pt);
std::cout << "minimum " << min_pt.x << " " << min_pt.y << " " << min_pt.z << "\n";
std::cout << "maximum " << max_pt.x << " " << max_pt.y << " " << max_pt.z << "\n";
// setting pcl::CropBox filter
pcl::CropBox<pcl::PointXYZRGB> box_filter;
box_filter.setMin(Eigen::Vector4f(0.25, 0.5, 0.25, 1.0));
box_filter.setMin(Eigen::Vector4f(1.25, 2.0, 0.75, 1.0));
box_filter.setInputCloud(main_cloud_ptr);
box_filter.filter(*cropped_cloud_ptr);
// visualizing a cropped point cloud
pcl::visualization::CloudViewer viewer2("cropped_cloud_ptr");
viewer2.showCloud(cropped_cloud_ptr);
while (!viewer2.wasStopped())
{
}
return 0;
}
My CMakeLists.txt
:
cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
project(cropbox_experiment)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
find_package(PCL 1.3 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (${PROJECT_NAME} main.cpp)
target_link_libraries (${PROJECT_NAME} ${PCL_LIBRARIES})
This is the output for main point cloud
:
This is the output for cropped point cloud
(As you can see, it's blank!!):
Could you tell me where am I making mistake and why I'm getting a blank output for the Cropped Point Cloud? As far as I know, minimum
and maximum
values for x
, y
, and z
axis in the setMin
and setMax
methods of pcl::CropBox
filter is correct.
It seems you have set Min twice:
box_filter.setMin(Eigen::Vector4f(0.25, 0.5, 0.25, 1.0));
box_filter.setMin(Eigen::Vector4f(1.25, 2.0, 0.75, 1.0));