Merge pull request #6 from for-geeks/seg

exercise: add mass point line test codes
for-geeks · Dec 14, 2019 · e84d0f8 · e84d0f8
2 parents 10f511d + 4ad3669
commit e84d0f8
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diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-For Geeks Python PCL Introduction
+Python PCL Introduction For Geeks
 ============
 
 This is a small python binding to the `pointcloud <http://pointclouds.org/>`_ library.

diff --git a/examples/official/Features/moment_of_inertia.py b/examples/official/Features/moment_of_inertia.py
@@ -2,10 +2,10 @@
 # http://pointclouds.org/documentation/tutorials/moment_of_inertia.php#moment-of-inertia
 
 import pcl
-
+import pcl.pcl_visualization
 
 def main():
-    cloud = pcl.load('./examples/pcldata/tutorials/lamppost.pcd')
+    cloud = pcl.load('/python-pcl/examples/pcldata/tutorials/lamppost.pcd')
 
     # 1.8
     # pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
@@ -50,11 +50,11 @@ def main():
     # viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
     # viewer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB");
     ###
-    viewer = pcl.visualization.PCLVisualizing()
+    viewer = pcl.pcl_visualization.PCLVisualizering()
     viewer.SetBackgroundColor(0, 0, 0)
-    viewer->InitCameraParameters()
+    # viewer->InitCameraParameters()
     # viewer->AddPointCloud (cloud, 'sample cloud', 0)
-    viewer->AddPointCloud(cloud)
+    # viewer->AddPointCloud(cloud)
     viewer.AddCube(min_point_AABB.x, max_point_AABB.x, min_point_AABB.y,
                    max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB")
 
@@ -78,9 +78,9 @@ def main():
                             middle_vector[1] + mass_center[1], middle_vector[2] + mass_center[2])
     z_axis = pcl.PointCloud(
         minor_vector[0] + mass_center[0], minor_vector[1] + mass_center[1], minor_vector[2] + mass_center[2])
-    viewer.AddLine(center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector")
-    viewer.AddLine(center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector")
-    viewer.AddLine(center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector")
+    viewer.AddLine(center, x_axis, 1.0, 0.0, 0.0, "major eigen vector")
+    viewer.AddLine(center, y_axis, 0.0, 1.0, 0.0, "middle eigen vector")
+    viewer.AddLine(center, z_axis, 0.0, 0.0, 1.0, "minor eigen vector")
 
     # while(!viewer->wasStopped())
     # {
@@ -89,7 +89,7 @@ def main():
     # }
     v = true
     while v:
-        v = not(visual.WasStopped())
+        v = not(viewer.WasStopped())
         # visual.spinOnce (100)
         # boost::this_thread::sleep (boost::posix_time::microseconds (100000));
 

diff --git a/exercises/3.2.example.segment.py b/exercises/3.2.example.segment.py
@@ -74,18 +74,19 @@ def main():
                 cloud_input[indice][0],
                 cloud_input[indice][1],
                 cloud_input[indice][2]])
-
             if cloud_input[indice][0] < min_x: min_x = cloud_input[indice][0]
             if cloud_input[indice][1] < min_y: min_y = cloud_input[indice][1]
             if cloud_input[indice][2] < min_z: min_z = cloud_input[indice][2]
 
             if cloud_input[indice][0] > max_x: max_x = cloud_input[indice][0]
             if cloud_input[indice][1] > max_y: max_y = cloud_input[indice][1]
             if cloud_input[indice][2] > max_z: max_z = cloud_input[indice][2]
-
         print('cluster size:' + str(len(cluster_points)))
         cluster_cloud = pcl.PointCloud()
         cluster_cloud.from_list(cluster_points)
+        # mass center
+        # mass_center_point = pcl.PointCloud(min_x + (min_x+max_x)/2, min_y + (min_y+max_y)/2, min_z + (min_z+max_z)/2)
+        # z_axis = pcl.PointCloud(min_x, min_y, min_z)
         # CLOUD RGB COLOR 
         r = int(cluster_color[j][0])
         g = int(cluster_color[j][1])
@@ -94,7 +95,8 @@ def main():
             cluster_cloud, r, g, b)
         # pcl.save(cluster_cloud, str(j) + '.pcd')
         viewer.AddPointCloud_ColorHandler(cluster_cloud, cluster_pc_color, 'cloud_cluster:' + str(j))
-        # viewer.AddCube(min_x, max_x, min_y, max_y, min_z, max_z, 255, 255, 255, 'cloud_cluster:' + str(j))
+        # viewer.AddCube(min_x, max_x, min_y, max_y, min_z, max_z, 1.0, 1.0, 1.0, 'cloud_cluster:' + str(j))
+        # viewer.AddLine(mass_center_point, z_axis, 0.0, 0.0, 1.0, "minor eigen vector")
 
     v = True
     while v:

diff --git a/exercises/3.2.todo.segment.py b/exercises/3.2.todo.segment.py
@@ -68,7 +68,6 @@ def main():
                 cloud_input[indice][0],
                 cloud_input[indice][1],
                 cloud_input[indice][2]])
-
         print('cluster size:' + str(len(cluster_points)))
         cluster_cloud = pcl.PointCloud()
         cluster_cloud.from_list(cluster_points)