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switched to royale 5 #2

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switched to royale 5 #2

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2312497
switched to royale 5
pmdSchmidt Apr 17, 2023
f664ad4
updated readme, pcl not supported for royale >5.3
pmdSchmidt Jun 19, 2023
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4 changes: 4 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,10 @@ otherwise you might get errors during compilation.
After installing everything, you can start CMake. There you have to set the `PCL_DIR` to your PCL installation (e.g. C:/Program Files/PCL 1.9.1/cmake)
and the `royale_DIR` to the share folder of your Royale binary installation (e.g. D:/Program Files/royale/4.23.0.1062/share) and click **Generate**.

**Attention**: With Royale 5.3 we switched to C++17, but there is no PCL version available that
supports this. So, if you want to use PCL with Royale, you have to use a version <5.3!
If you only need a pointcloud functionality, check out our Open3D example.

## Quick Start
Below you see which key toggles which filter:
- n: [show normals](#show-normals)
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26 changes: 13 additions & 13 deletions samplePCL.cpp
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Expand Up @@ -199,19 +199,19 @@ class RoyaleListener : public IDepthDataListener

for (size_t i = 0u; i < cloud->points.size(); ++i)
{
cloud->points[i].x = data->points[i].x;
cloud->points[i].y = data->points[i].y;
cloud->points[i].z = data->points[i].z;
cloud->points[i].x = data->getX(i);
cloud->points[i].y = data->getY(i);
cloud->points[i].z = data->getZ(i);

cloudDuplicate->points[i].x = data->points[i].x;
cloudDuplicate->points[i].y = data->points[i].y;
cloudDuplicate->points[i].z = data->points[i].z;
cloudDuplicate->points[i].x = data->getX(i);
cloudDuplicate->points[i].y = data->getY(i);
cloudDuplicate->points[i].z = data->getZ(i);

cloudIntensity->points[i].x = data->points[i].x;
cloudIntensity->points[i].y = data->points[i].y;
cloudIntensity->points[i].z = data->points[i].z;
cloudIntensity->points[i].x = data->getX(i);
cloudIntensity->points[i].y = data->getY(i);
cloudIntensity->points[i].z = data->getZ(i);

const RgbColor col = getColor(data->points[i].z);
const RgbColor col = getColor(data->getZ(i));

cloud->points[i].r = col.r;
cloud->points[i].g = col.g;
Expand All @@ -222,9 +222,9 @@ class RoyaleListener : public IDepthDataListener
cloudDuplicate->points[i].b = col.b;

// calculate intensity from color
cloudIntensity->points[i].intensity = data->points[i].grayValue / 2000.0f;
cloudIntensity->points[i].intensity = data->getGrayValue(i) / 2000.0f;

if (data->points[i].depthConfidence > 0)
if (data->getDepthConfidence(i) > 0)
{
cloud->points[i].a = 255;
cloudDuplicate->points[i].a = 255;
Expand Down Expand Up @@ -670,7 +670,7 @@ int main(int argc, char *argv[])
}
}

if (!growRegion & !bilateral & !detectPlanes)
if (!growRegion && !bilateral && !detectPlanes)
{
viewer.removeAllPointClouds();

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