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- first version of the pcl filter sample

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This commit is contained in:
Guido Ranzuglia granzuglia 2012-10-05 13:31:41 +00:00
parent d3294a5e45
commit 830fe68f0f
3 changed files with 196 additions and 0 deletions
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131
src/sampleplugins/sample_pclfilter/sample_pclfilter.cpp Normal file
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/****************************************************************************
* MeshLab o o *
* A versatile mesh processing toolbox o o *
* _ O _ *
* Copyright(C) 2005 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#include "sample_pclfilter.h"
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
// Constructor usually performs only two simple tasks of filling the two lists
// - typeList: with all the possible id of the filtering actions
// - actionList with the corresponding actions. If you want to add icons to your filtering actions you can do here by construction the QActions accordingly
SamplePCLFilterPlugin::SamplePCLFilterPlugin()
:MeshFilterInterface()
{
typeList << FP_PCL_SAMPLE;
foreach(FilterIDType tt , types())
actionList << new QAction(filterName(tt), this);
}
// ST() must return the very short string describing each filtering action
// (this string is used also to define the menu entry)
QString SamplePCLFilterPlugin::filterName(FilterIDType filterId) const
{
switch(filterId) {
case FP_PCL_SAMPLE : return QString("Point Cloud Library Filter Example");
default : assert(0);
}
return QString();
}
// Info() must return the longer string describing each filtering action
// (this string is used in the About plugin dialog)
QString SamplePCLFilterPlugin::filterInfo(FilterIDType filterId) const
{
switch(filterId) {
case FP_PCL_SAMPLE : return QString("Small useless filter added only to show how to work with a Point Cloud Library with MeshLab.");
default : assert(0);
}
return QString("Unknown Filter");
}
// The FilterClass describes in which generic class of filters it fits.
// This choice affect the submenu in which each filter will be placed
// More than a single class can be choosen.
SamplePCLFilterPlugin::FilterClass SamplePCLFilterPlugin::getClass(QAction *a)
{
switch(ID(a))
{
case FP_PCL_SAMPLE : return MeshFilterInterface::Generic;
default : assert(0);
}
return MeshFilterInterface::Generic;
}
// This function define the needed parameters for each filter. Return true if the filter has some parameters
// it is called every time, so you can set the default value of parameters according to the mesh
// For each parameter you need to define,
// - the name of the parameter,
// - the string shown in the dialog
// - the default value
// - a possibly long string describing the meaning of that parameter (shown as a popup help in the dialog)
void SamplePCLFilterPlugin::initParameterSet(QAction * action, MeshModel & m, RichParameterSet & parlst)
{
(void)m;
switch(ID(action))
{
case FP_PCL_SAMPLE :
{
break;
}
default : assert(0);
}
}
// The Real Core Function doing the actual mesh processing.
// Move Vertex of a random quantity
bool SamplePCLFilterPlugin::applyFilter(QAction * a, MeshDocument & md , RichParameterSet & par, vcg::CallBackPos * /*cb*/)
{
switch(ID(a))
{
case FP_PCL_SAMPLE:
{
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;
break;
}
}
return true;
}
Q_EXPORT_PLUGIN(SamplePCLFilterPlugin)

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src/sampleplugins/sample_pclfilter/sample_pclfilter.h Normal file
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/****************************************************************************
* MeshLab o o *
* A versatile mesh processing toolbox o o *
* _ O _ *
* Copyright(C) 2005 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#ifndef SAMPLEPCLFILTERPLUGIN_H
#define SAMPLEPCLFILTERPLUGIN_H
#include <QObject>
#include <common/interfaces.h>
class SamplePCLFilterPlugin : public QObject, public MeshFilterInterface
{
Q_OBJECT
Q_INTERFACES(MeshFilterInterface)
public:
enum { FP_PCL_SAMPLE } ;
SamplePCLFilterPlugin();
QString pluginName(void) const { return "SamplePCLFilterPlugin"; }
void initParameterSet(QAction *action,MeshModel &m, RichParameterSet & parlst);
QString filterName(FilterIDType filter) const;
QString filterInfo(FilterIDType filter) const;
bool applyFilter(QAction *filter, MeshDocument &md, RichParameterSet & /*parent*/, vcg::CallBackPos * cb) ;
FilterClass getClass(QAction *a);
};
#endif

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src/sampleplugins/sample_pclfilter/sample_pclfilter.pro Normal file
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include (../../shared.pri)
HEADERS += sample_pclfilter.h
SOURCES += sample_pclfilter.cpp
TARGET = sample_pclfilter
INCLUDEPATH += $(PCL_ROOT)/3rdParty/Boost/include/ $(PCL_ROOT)/3rdParty/Eigen/include $(PCL_ROOT)/3rdParty/Flann/include $(PCL_ROOT)/include/pcl-1.5
QMAKE_LIBDIR += $(PCL_ROOT)/lib
LIBS += pcl_common_debug.lib pcl_io_debug.lib