jsk_pcl_ros: test_hsv.cpp Source File

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00001 #include "pcl/pcl_base.h"
00002 #include "pcl/point_types.h"
00003 #include "jsk_pcl_ros/color_converter.h"
00004 
00005 #include "pcl/kdtree/tree_types.h"
00006 #include "pcl/kdtree/kdtree.h"
00007 #include "pcl/kdtree/kdtree_flann.h"
00008 #include "pcl/kdtree/impl/kdtree_flann.hpp"
00009 
00010 #include <boost/smart_ptr/make_shared.hpp>
00011 
00012 int main (int argc, char** argv) {
00013     pcl::PointCloud<pcl::PointXYZRGB> p_rgb, p_rgb2;
00014     pcl::PointCloud<pcl::PointXYZHSV> p_hsv;
00015     // create RGB pointcloud
00016     for(int r=0;r < 10; r++) {
00017         for(int g=0;g < 10; g++) {
00018             for(int b=0;b < 10; b++) {
00019                 pcl::PointXYZRGB pt;
00020                 pcl::RGBValue v;
00021                 pt.x = r*25;
00022                 pt.y = g*25;
00023                 pt.z = b*25;
00024                 v.Blue = r*25;
00025                 v.Green = g*25;
00026                 v.Red = b*25;
00027                 pt.rgb = v.float_value;
00028                 p_rgb.points.push_back(pt);
00029             }}}
00030     // create cv::Mat 1x1000!
00031     
00032     
00033     p_rgb.is_dense = true;
00034     p_rgb.width = 1000;
00035     p_rgb.height = 1;
00036   
00037     pcl::RGB2HSVConverter<pcl::PointXYZRGB, pcl::PointXYZHSV> rgb2hsv;
00038     pcl::HSV2RGBConverter<pcl::PointXYZHSV, pcl::PointXYZRGB> hsv2rgb;
00039   
00040     pcl::KdTreeFLANN<pcl::PointXYZRGB>::Ptr tree
00041         = boost::make_shared<pcl::KdTreeFLANN<pcl::PointXYZRGB> > ();
00042   
00043     pcl::KdTreeFLANN<pcl::PointXYZHSV>::Ptr tree2
00044         = boost::make_shared<pcl::KdTreeFLANN<pcl::PointXYZHSV> > ();
00045   
00046     rgb2hsv.setSearchMethod (tree); // dummy
00047     rgb2hsv.setKSearch (50);        // dummy
00048   
00049     hsv2rgb.setSearchMethod (tree2); // dummy
00050     hsv2rgb.setKSearch (50);         // dummy
00051   
00052     rgb2hsv.setInputCloud(boost::make_shared<pcl::PointCloud<pcl::PointXYZRGB> > (p_rgb));
00053     rgb2hsv.compute(p_hsv);
00054   
00055     hsv2rgb.setInputCloud(boost::make_shared<pcl::PointCloud<pcl::PointXYZHSV> > (p_hsv));
00056     hsv2rgb.compute(p_rgb2);
00057 
00058     for(int i = 0 ; i < 1000; i++ )
00059     {
00060         pcl::PointXYZRGB rgb_p= p_rgb.points[i];
00061         pcl::PointXYZRGB rgb2_p= p_rgb2.points[i];
00062         pcl::PointXYZHSV hsv_p= p_hsv.points[i];
00063       
00064         pcl::RGBValue v, v2;
00065         v.float_value = rgb_p.rgb;
00066         v2.float_value = rgb2_p.rgb;
00067       
00068         std::cout << "[" << (int)v.Red << ", " << (int)v.Green << ", " << (int)v.Blue << "] -> "
00069                   << "[" << hsv_p.hue << ", " << hsv_p.saturation << ", "
00070                   << hsv_p.value << "] -> "
00071                   << "[" << (int)v2.Red << ", "
00072                   << (int)v2.Green << ", "
00073                   << (int)v2.Blue << "]"
00074                   << std::endl;
00075     }
00076 }