upload third chapter

Signed-off-by: Hao Guo <[email protected]>

README.md

@@ -1,6 +1,6 @@
 # Point-Cloud-Processing-example
-更多点云数据处理相关资源请去http:https://www.pclcn.org/ 和相应的 http:https://www.pclcn.org/bbs/forum.php
 点云库PCL从入门到精通 书中配套案例
-第二章代码 其中五个源码案例，一个是笔者做实验时用的第三方库，由于一些资源太大，没有上传。
+更多点云数据处理相关资源请去 http:https://www.pclcn.org/ 和相应的论坛 http:https://www.pclcn.org/bbs/forum.php
+
 
 

第三章/1 reading pcd/source/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+project(pcd_read)
+find_package(PCL 1.2 REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+add_executable(pcd_read pcd_read.cpp)
+target_link_libraries(pcd_read ${PCL_LIBRARIES})

第三章/1 reading pcd/source/pcd_read.cpp

@@ -0,0 +1,25 @@
+#include <iostream>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+
+int
+main(int argc,char** argv)
+{
+pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+
+if(pcl::io::loadPCDFile<pcl::PointXYZ>("test_pcd.pcd",*cloud)==-1)//*´ò¿ªµãÔÆÎļþ
+{
+PCL_ERROR("Couldn't read file test_pcd.pcd\n");
+return(-1);
+}
+std::cout<<"Loaded "
+<<cloud->width*cloud->height
+<<" data points from test_pcd.pcd with the following fields: "
+<<std::endl;
+for(size_t i=0;i<cloud->points.size();++i)
+std::cout<<" "<<cloud->points[i].x
+<<" "<<cloud->points[i].y
+<<" "<<cloud->points[i].z<<std::endl;
+
+return(0);
+}

第三章/1 reading pcd/source/test_pcd.pcd

@@ -0,0 +1,16 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION 0.7
+FIELDS x y z
+SIZE 4 4 4
+TYPE F F F
+COUNT 1 1 1
+WIDTH 5
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 5
+DATA ascii
+1.28125 577.09375 197.9375
+828.125 599.03125 491.375
+358.6875 917.4375 842.5625
+764.5 178.28125 879.53125
+727.53125 525.84375 311.28125

第三章/10/linescaner/CMakeLists.txt

@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 2.8)
+include (GenerateExportHeader)
+project(Lslib)
+
+FIND_PACKAGE(Qt4 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+
+
+SET (LIB_TYPE SHARED)
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} "${CMAKE_CURRENT_SOURCE_DIR}/third" "${CMAKE_CURRENT_SOURCE_DIR}/header")
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+add_definitions(-DNOMINMAX)
+
+set(INCS
+ "header/stdafx.h"
+ "third/InterfaceLLT_2.h"
+ "third/DllLoader.h"
+ "third/scanControlDataTypes.h"
+)
+
+set(SRCS
+ src/LineScaner.cpp
+ third/DllLoader.cpp
+ third/InterfaceLLT_2.cpp
+)
+
+
+set(MOC_LINESCANER_INC "header/LineScaner.h")
+
+INCLUDE(${QT_USE_FILE})
+qt4_wrap_cpp(MOC_LINESCANER_SRC "${MOC_LINESCANER_INC}")
+
+list(APPEND ADDITIONAL_LIBS ${QT_LIBRARIES})
+list(APPEND SRCS "${MOC_LINESCANER_SRC}")
+list(APPEND INCS "${MOC_LINESCANER_INC}")
+
+# Create a target for the library
+ADD_LIBRARY(LsLib ${LIB_TYPE} ${SRCS} ${INCS})
+target_link_libraries(LsLib ${QT_LIBRARIES} ${PCL_LIBRARIES})
+
+add_subdirectory(sourceio)
+add_subdirectory(sourceads)
+
+GENERATE_EXPORT_HEADER( LsLib
+ BASE_NAME LsLib
+ EXPORT_MACRO_NAME LsLib_EXPORT
+ EXPORT_FILE_NAME LsLib_Export.h)
+
+find_package (VTK REQUIRED)
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} "${CMAKE_CURRENT_SOURCE_DIR}/header" "${CMAKE_CURRENT_SOURCE_DIR}/sourceio/header" "${CMAKE_CURRENT_SOURCE_DIR}/sourceads/header" "${CMAKE_CURRENT_SOURCE_DIR}/sourceads/third")
+link_directories("${CMAKE_CURRENT_SOURCE_DIR}/sourceads/third")
+set (test_SRCS test/src/main.cpp
+ test/src/MYscaner.cpp )
+set (test_INCS test/header/MYscaner.h)
+set (test_FORMS test/resource/mainUI.ui)
+set (test_RSRC test/resource/resource.qrc)
+set (VTK_LIBRARIES vtkRendering vtkGraphics vtkHybrid QVTK)
+
+QT4_WRAP_CPP (project_HEADERS_MOC ${test_INCS})
+QT4_WRAP_UI (project_FORMS_HEADERS ${test_FORMS})
+QT4_ADD_RESOURCES(RESOURCES_SRCS ${test_RSRC})
+
+ADD_EXECUTABLE (MIYI_capturing ${test_SRCS}
+ ${test_INCS}
+ ${project_FORMS_HEADERS}
+ ${project_HEADERS_MOC}
+ ${RESOURCES_SRCS})
+
+TARGET_LINK_LIBRARIES (MIYI_capturing ${QT_LIBRARIES} ${PCL_LIBRARIES} ${VTK_LIBRARIES} LsLib IOLib AdsLib)
+

第三章/10/linescaner/header/LineScaner.h

@@ -0,0 +1,190 @@
+/*! \file LineScaner.h 
+*this file declare the class which was designed for using the line scaner 
+*/
+#ifndef LINESCANERH
+#define LINESCANERH
+#include <QObject>
+#include "InterfaceLLT_2.h"
+#include<vector>
+#include "LsLib_Export.h"
+#include <Eigen/Geometry> 
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/common/eigen.h>
+#include <pcl/common/transforms.h>
+#include <boost/thread/mutex.hpp>
+
+#define MAX_INTERFACE_COUNT 5
+#define MAX_RESOULUTIONS 6
+/*! \namespace LS
+*LS contains all the members for line scanning
+*
+*/
+
+namespace LS
+{
+ /*!
+ * call back function provided for Line Scanner Driver
+ * capturing and storing the data periodically
+ */
+ void __stdcall CallBack(const unsigned char* pucData, unsigned int uiSize, void* pUserData); 
+ /*! \class LineScaner
+ * Line Scanner contains all the operation and data related with line scanning
+ *
+ */
+ class LsLib_EXPORT LineScaner:public QObject
+ {
+ Q_OBJECT
+ public: 
+/*!
+*load the API dll and initalize parameter for device
+*/
+ LineScaner();
+ /*!
+ *stop capturing data and diconnect device
+ */
+ ~LineScaner();
+ /*!
+ *return the number of devices connected with server
+ */
+ int NumofDevice();
+ /*!
+ *set which device is going to work default 0
+ */
+ bool SetDevice(int device_id);
+ /*!
+ *build connection with device
+ */
+ bool BuildConnection();
+ /*!
+ * get the device type store in m_tscanCONTROLType member
+ */
+ bool GetDeviceType();
+ /*!
+ *get all support resoulution store in vdwResolutions[]
+ */
+ bool GetSupportResoulutions();
+ /*!
+ *Set resoulution id defualt 0
+ */
+ bool SetResoulution(int resuolution_id);
+ /*!
+ *set filter
+ */
+ bool Setfilter(unsigned long filtering);
+ /*!
+ *set the trigger type,always internal.
+ */
+ bool SetTrigger();
+ /*!
+ *set profile type defualt PROFILE.
+ */
+ bool SetProfileType(TProfileConfig type);
+ /*!
+ * set shutter time defualt 100
+ */
+ bool SetShutterTime( unsigned int shuttertime);
+ /*!
+ *set idle time defualt 900
+ */
+ bool SetIdleTime( unsigned int idleTime);
+ /*!
+ *register callback function which will capturing data periodically
+ */
+ bool StartCapturing();
+ /*!
+ *called in callback function broadcast the new frame captured news by signal.
+ */
+ void Fire_new();
+ /*!
+ *stop calling the callback stop the transfering of data
+ */
+ bool EndCapturing();
+ /*!
+ * get how many frame are captured so far
+ */
+ void Get_num_frame(unsigned int &num_frame);
+ /*!
+ * set data state. true means data are good in sense of size
+ */
+ void SetDataState(bool test);
+ /*!
+ *return the resoulution(not ID)
+ */
+ unsigned int GetResoulution();
+ /*!
+ * set the pose for transform the data in device frame to world frame.
+ *must called before Get_W3D.
+ */
+ void Set_Last_Pose(double x,double y,double z,double roll,double pitch,double yaw);
+ /*\brief Get the lastest point cloud data in the world coordinate system
+ *and sent the final data ready signal W3D_Ready(),user can be notified for further processing.
+ *
+ *\param[in/out] cloud store the final data.
+ */
+ void Get_W3D(pcl::PointCloud<pcl::PointXYZ> &cloud);
+
+ /**
+ * convert the current frame to 3d in device frame
+ */
+ void Get_L3D(pcl::PointCloud<pcl::PointXYZ> &cloud);
+ protected:
+
+
+ void OnError(const char* szErrorTxt, int iErrorValue);
+
+ public slots:
+ bool DismissConnection();
+signals:
+ void New_Frame_comed()const;
+ void Connection_okay()const;
+ void Connection_off(bool)const;
+ void W3D_Ready(bool)const;
+ void L3D_Ready(bool)const;
+
+ public:
+ unsigned int m_uiProfileDataSize;
+ std::vector<unsigned char> vucProfileBuffer_Last;
+ bool debug_verbose;
+
+ private:
+ /*!
+ *convert the data frame the callback to hunman understand minimeter
+ */
+ bool GetXZinMM();
+ /*!
+ * current frame to 3d in device frame
+ */
+ void Convert_to_3DL();
+ /*!
+ *Get the lastest point cloud data in the world coordinate system,must called after setpose
+ */
+ void Convert_to_3DW();
+ private:
+ boost::mutex mutex_;
+ unsigned int Numer_of_new_frame;
+ double _x,_y,_z,_roll,_pitch,_yaw;
+ Eigen::Transform<double, 3, Eigen::Affine> last_T_W;
+ std::vector<unsigned int> vuiEthernetInterfaces;
+ std::vector<unsigned long> vdwResolutions;
+ unsigned int uiEthernetInterfaceCount;
+ unsigned int uiShutterTime;
+ unsigned int uiIdleTime;
+ unsigned long ulFilter;
+ bool bLoadError;
+ int iRetValue;
+ bool bOK,Atleastone;
+ bool bConnected;
+ bool Capturing_state;
+ bool Data_fine;
+ unsigned int m_uiResolution;
+ CInterfaceLLT* m_pLLT;
+ TScannerType m_tscanCONTROLType;
+ std::vector<double> vdValueX_Last;
+ std::vector<double> vdValueZ_Last;
+ pcl::PointCloud<pcl::PointXYZ>::Ptr P_last_cloud_W; 
+ pcl::PointCloud<pcl::PointXYZ>::Ptr P_last_cloud_L;
+ };
+}
+
+#endif

第三章/10/linescaner/header/stdafx.h

@@ -0,0 +1,18 @@
+// stdafx.h : Includedatei für Standardsystem-Includedateien,
+// oder häufig verwendete, projektspezifische Includedateien,
+// die nur in unregelmäßigen Abständen geändert werden.
+
+#include <vector>
+#include <string>
+#include <list>
+#include <map>
+#include <deque>
+#include <sstream>
+#include <fstream>
+#include <ostream>
+#include <istream>
+#include <iomanip>
+#include <algorithm>
+
+
+