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Last active January 11, 2016 17:59
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{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Demonstration notebook: How PCL.jl works\n",
"\n",
"PCL.jl is a Julia interface to the Point Cloud Library (PCL): https://github.com/r9y9/PCL.jl."
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"ENV[\"PCLJL_VERBOSE\"] = 0\n",
"using PCL\n",
"using Cxx"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Read PCD file"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"pcd_file = Pkg.dir(\"PCL\", \"test\", \"data\", \"table_scene_lms400.pcd\")\n",
"# pcd_file = Pkg.dir(\"PCL\", \"test\", \"data\", \"milk_cartoon_all_small_clorox.pcd\")\n",
"cloud = pcl.PointCloud{pcl.PointXYZ}(pcd_file);"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## StatisticalOutlierRemoval"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"PointCloud before filtering: 460400 data points\n"
]
}
],
"source": [
"cloud_filtered = pcl.PointCloud{pcl.PointXYZ}()\n",
"\n",
"sor = pcl.StatisticalOutlierRemoval{pcl.PointXYZ}()\n",
"pcl.setInputCloud(sor, cloud)\n",
"pcl.setMeanK(sor, 50)\n",
"pcl.setStddevMulThresh(sor, 1.0)\n",
"pcl.filter(sor, cloud_filtered)\n",
"\n",
"println(\"PointCloud before filtering: $(length(cloud)) data points\")\n",
"println(\"PointCloud before filtering: $(length(cloud_filtered)) data points\")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## PCLVisualizer with off-screen rendering"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"text/plain": [
"true"
]
},
"execution_count": 4,
"metadata": {},
"output_type": "execute_result"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"PointCloud before filtering: 451410 data points\n"
]
}
],
"source": [
"viewer = pcl.PCLVisualizer(\"pcl visualizeer\", create_interactor=false)\n",
"pcl.addCoordinateSystem(viewer, 0.2)\n",
"pcl.setCameraPosition(viewer, 0,0,1, 0,0,0)\n",
"pcl.setOffScreenRendering(viewer, true)\n",
"\n",
"# Add point clouds\n",
"red_handler = pcl.PointCloudColorHandlerCustom(cloud, 255, 0, 0)\n",
"green_handler = pcl.PointCloudColorHandlerCustom(cloud, 0, 255, 0)\n",
"pcl.addPointCloud(viewer, cloud, red_handler, id=\"cloud\")\n",
"pcl.addPointCloud(viewer, cloud_filtered, green_handler, id=\"cloud_filtered\")"
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
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>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"data = pcl.renderedData(viewer)\n",
"display(\"text/html\", \"<img src=data:image/png;base64,$(base64encode(data))>\")"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"text/html": [
"<img 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>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"# Zoom againt Z-axis\n",
"pcl.setCameraPosition(viewer, 0,0,0.5, 0,0,0)\n",
"data = pcl.renderedData(viewer)\n",
"display(\"text/html\", \"<img src=data:image/png;base64,$(base64encode(data))>\")"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Julia 0.5.0-dev",
"language": "julia",
"name": "julia-0.5"
},
"language_info": {
"file_extension": ".jl",
"mimetype": "application/julia",
"name": "julia",
"version": "0.5.0"
}
},
"nbformat": 4,
"nbformat_minor": 0
}
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