osgpcl's Introduction
osgpcl by Adam Stambler Carnegie Mellon University OpenSceneGraph Point Cloud Library This is a repository of PCL visualization tools implemented using the OpenSceneGraph Library. The cloud viewer application can view in core and out of core points. Depedencies: PCL http://www.pointclouds.org/ OpenSceneGraph http://www.openscenegraph.org/ Usage: To force color rendering (needed for out of core viewing) use cloud_viewer -C You can find a large example point cloud to try at: https://www.dropbox.com/s/djiey6b4jnc5dv0/chappes.pcd To view the full point cloud in color, simply use cloud_viewer -C chappes.pcd You can generate an out of core point cloud from this large point cloud via pcl_outofcore_process -gen_lod chappes.pcd chappes_tree Then use "cloud_viewer -C chappes_tree/tree.oct_idx" to view in color. This is the Chappes Cathedral Dataset courtesy of Prof. Peter Allen, Columbia University Robotics Lab. Scanning by Alejandro Troccoli and Matei Ciocarlie. It was taken from http://pr.willowgarage.com/data/megatree/chappes.pts
osgpcl's People
Forkers
stephenfox mhabets adrics nyue liuxinren456852 simfaris wangfeilong321 ydusky zhengxu119 rotorliu carlin314 hmzhangmin riowong damonsj czz2012 nnu-gisa neverland1026 ilcamf hiowang zhhongsh gnibuoz hahacome zmiot zuiyueyin mfkiwlosgpcl's Issues
Error in setting unique state set
I believe line 128 of point_cloud.hpp is incorrect.
I believe this:
geom->setStateSet(stateset_);
should be this:
geom->setStateSet(ss);
Given a new stateset ss is being created if unique_stateset is true.
Unused variable in one of the OutOfCoreOptions constructor
In the OutOfCoreOptions constructor that starts in outofcore_octree_reader.cpp
line 211 there is an unused variable: _octree.
In the constructor's body, there is a call to init
with the parameter: octree_
Shouldn't it be _octree
instead?
Problems with OSG
Hi, I managed to compile osgpcl with the new version of OSG (3.2.0) and PCL (1.7), but that took me a while. The first problem I found was related to sensor_msgs in PCL (github version). The second one was that some primitives from the osg::Geometry class are now deprecated, so I needed to explicitly modify many source files to be consistent with the changes done in OSG.
The solution is rather simple but takes some time. First of all, sensor_msgs/PoindCloud2 does not exist. Now the file is PCLPointCloud2 and the name of the class is pcl::PCLPointCloud2.
Regarding the osg::Geometry class, BIND_PER_PRIMITIVE is deprecated. In order to use it in your code you need to make use of the deprecated_osg namespace. Once you add tha namespace it is also required to change the way the geometry objects are created.
Usually, you create these objects such as osg::Geometry ...etc. The simplest way of fixing this is to create these objects just like "Geometry *geom = new Geometry(..)" In this way, the appropriate methods will be invoked (those from the deprecated_osg namespace).
This is all. I can send you the modified version of osgpcl if you wish.
Best regards,
German Ros
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