FRCVConcatenatePointClouds < Main

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---++ register.cpp Notes and Instructions

Executable takes the log file as a command line argument. Assumes that [[http://www.pointclouds.org][PCL]] pcd files are in the working directory. No additional processing of data (cleanup, downsample, etc...) is done. Loses the color info.

You can modify to preserve color by:
   1 Change the header in the pcd files from "rgb" to "rgba" (or modify rcv2pcd and reconvert your rcv point cloud files to pcd files with that header).
   1 Change the "PointXYZ" data type in register.cpp to "PointXYZRGBA"

File can be downloaded here:

Verion 1, 6-14-2011: [[%ATTACHURL%/register.tar.bz2][register.tar.bz2]]

Version 2, 6-15-2011: [[%ATTACHURL%/register_v2.tar.bz2][register_v2.tar.bz2]]

Instructions:

Download and extract the files to a folder. It contains:
   * register.cpp
   * CMakeLists.txt
   * FindPCL.cmake
   1 Within that directory: mkdir build cd build cmake .. make register
   1 You need to convert the rcv point clouds to pcd. I downloaded all the rcv point clouds into a folder called "pointclouds_rcv". Using the bash script, I just tack on a ".pcd" to the txt filenames for simplicity, and the version of rcv2pcd I posted takes input and output filenames (I think I didn't change anything). Here's the bash script I used:<br /><br />for i in pointclouds_rcv/* do <br /> ./rcv2pcd $i $i.pcd <br />done
   1 Then move the log file and the executable into the folder with the pcd files. I had some issues with the 14th set of scans, so I just deleted them from the log file.
   1 Finally, it outputs to hallway.pcd. You can view this by: pcd_viewer hallway.pcd.

---++ Image 1 (register.cpp v1): No pre-processing; only odometry estimates--ca. 1.8 million points

<img width="942" alt="screenshot-1308151462.png" src="%ATTACHURL%/screenshot-1308151462.png" title="screenshot-1308151462.png" height="377" />

---++ Image 2 (register.cpp v2): statistical removal and downsampling of each individual point cloud--ca. 1.4 million points

<img width="942" alt="hallway2.png" src="%ATTACHURL%/hallway2.png" height="377" />

[[%ATTACHURL%/hallway2_screenshots.tar.bz2][hallway2_screenshots.tar.bz2]]

* Set ALLOWTOPICVIEW = FRCVRoboticsGroup<br />* Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

-- Main.StephenFox - 2011-06-15

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who	Comment
png	hallway2.png	r1	manage	20.0 K	2011-06-15 - 20:15	UnknownUser
bz2	hallway2_screenshots.tar.bz2	r1	manage	6714.9 K	2011-06-22 - 15:39	UnknownUser	screen shots of tilt hallway data june22
bz2	register.tar.bz2	r1	manage	3.8 K	2011-06-15 - 16:02	UnknownUser
bz2	register_v2.tar.bz2	r1	manage	4.0 K	2011-06-15 - 20:24	UnknownUser
png	screenshot-1308151462.png	r1	manage	63.1 K	2011-06-15 - 16:04	UnknownUser

Topic revision: r2 - 2017-06-12 - DamianLyons