virtual_scanner.cpp File Reference

#include <string>
#include <ros/ros.h>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include <pcl/ros/register_point_struct.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/point_types.h>
#include <itpp/itbase.h>
#include <itpp/itstat.h>
#include <itpp/signal/sigfun.h>
#include <vtkMath.h>
#include <vtkGeneralTransform.h>
#include <vtkPlatonicSolidSource.h>
#include <vtkLoopSubdivisionFilter.h>
#include <vtkPLYReader.h>
#include <vtkSmartPointer.h>
#include <vtkCellLocator.h>
#include <vtkPolyData.h>
#include <terminal_tools/print.h>
#include <terminal_tools/parse.h>
#include "pcl_vtk_tools/misc.h"
#include <vector>

Include dependency graph for virtual_scanner.cpp:

Go to the source code of this file.

Classes
struct	ScanParameters
Defines
#define	EPS   0.00001
Functions
vtkPolyData *	loadPLYAsDataSet (const char *file_name)
	Loads a 3D point cloud from a given PLY fileName, and returns: a vtkDataSet object containing the point cloud.
int	main (int argc, char **argv)

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Define Documentation

#define EPS   0.00001

Author:

Radu Bogdan Rusu

virtual_scanner takes in a .ply or a .vtk file of an object model, and virtually scans it in a raytracing fashion, saving the end results as PCD (Point Cloud Data) files. In addition, it noisifies the PCD models, and downsamples them. The viewpoint can be set to 1 or multiple views on a sphere.

Definition at line 81 of file virtual_scanner.cpp.

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Function Documentation

vtkPolyData* loadPLYAsDataSet

(

const char *

file_name

)

Loads a 3D point cloud from a given PLY fileName, and returns: a vtkDataSet object containing the point cloud.

Parameters:

file_name

the name of the file containing the PLY dataset

Definition at line 98 of file virtual_scanner.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 119 of file virtual_scanner.cpp.