[PCL] Point cloud library install on window 8, msvc2010

1. Download and install files: http://pointclouds.org/downloads/

2. Add environmental variable PATH in MyPC 

3. Open VS 2010

4. Add include directories in Project properties

C:\Program Files\PCL 1.6.0\include\pcl-1.6;

C:\Program Files\PCL 1.6.0\3rdParty\Boost\include;

C:\Program Files\PCL 1.6.0\3rdParty\Eigen\include;

C:\Program Files\PCL 1.6.0\3rdParty\FLANN\include;

C:\Program Files\PCL 1.6.0\3rdParty\Qhull\include;

C:\Program Files\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8;

5. Add library directories in Project properties

C:\Program Files\PCL 1.6.0\lib;

C:\Program Files\PCL 1.6.0\3rdParty\Boost\lib;

C:\Program Files\PCL 1.6.0\3rdParty\FLANN\lib;

C:\Program Files\PCL 1.6.0\3rdParty\Qhull\lib;

C:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8;

6. Add libraries 

#pragma comment(lib, "pcl_apps_debug.lib")
#pragma comment(lib, "pcl_common_debug.lib")
#pragma comment(lib, "pcl_features_debug.lib")
#pragma comment(lib, "pcl_filters_debug.lib")
#pragma comment(lib, "pcl_io_debug.lib")
#pragma comment(lib, "pcl_io_ply_debug.lib")
#pragma comment(lib, "pcl_kdtree_debug.lib")
#pragma comment(lib, "pcl_keypoints_debug.lib")
#pragma comment(lib, "pcl_octree_debug.lib")
#pragma comment(lib, "pcl_registration_debug.lib")
#pragma comment(lib, "pcl_sample_consensus_debug.lib")
#pragma comment(lib, "pcl_search_debug.lib")
#pragma comment(lib, "pcl_segmentation_debug.lib")
#pragma comment(lib, "pcl_surface_debug.lib")
#pragma comment(lib, "pcl_tracking_debug.lib")
#pragma comment(lib, "pcl_visualization_debug.lib")

** I don't need above all things but I don't know, what they do................

7. Types sample codes

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

int main ()
{

 pcl::PointCloud<pcl::PointXYZ> cloud;
 cloud.width    = 10000;
 cloud.height   = 1;
 cloud.is_dense = false;
 cloud.points.resize (cloud.width * cloud.height);

 for (size_t i = 0; i < cloud.points.size (); ++i)
 {
  cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
  cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
  cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
 }
 for (size_t i = 0; i < cloud.points.size (); ++i)
  std::cerr << "    " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

 pcl::visualization::CloudViewer viewer("PCL Viewer");
 viewer.showCloud(cloud.makeShared());
 while (!viewer.wasStopped());

 return 0;
}

<results>

This post is courtesy of : http://blog.daum.net/_blog/BlogTypeView.do?blogid=0fjLE&articleno=3

[C++]MFC, Release method including static library

When you release your project without static library, the released exe. file would not work on other PC. That is because libraries related to your project are not included in your released file. Here I will introduce the release method including static library to prevent the happening described above.

1) In your project properties, set configuration from debug to release.

2) Click the General tab of configuration properties, 

3) Change 'Use MFC in a shared DLL' to 'Use MFC in a static library'

4) Nextly, move the Code generation tab of C/C++

5) Change '/MD' to '/MT' in the runtime library.

details are shown in below figure.

[C++]MFC, obtain the pointer of MainFrame, Doc, View classes

MFC, obtain the pointer of MainFrame, Doc, View classes 

// Notice: Before doing below, you have to include the header of the pointer to be obtained.

※ CMainFrame* pFrame = (CMainFrame*)AfxGetApp()->GetMainWnd();

1. MainFrame Pointer
CMainFrame *frame = (CMainFrame*)AfxGetMainWnd();

2. Doc class Pointer
CxxxDoc *pDoc = (CxxxDoc*)(frame->GetActivedocument());

3. View class Pointer
CxxxView* pView = (CxxxView*)((CMainFrame*)(AfxGetApp()->m_pMainWnd))->GetActiveView();

--------------------------------------------------------------------------

[SDI Type]

1. MainFrame pointer
- CMainFrame *pFrame = (CmainFrame *) AfxGetMainWnd();

2. App class pointer
- CTestApp *pApp = (CtestApp *) AfxGetApp();

3. Document class pointer
- CMainFrame *pFrame = (CMainFrame *)AfxGetMainWnd();
  CTestDoc *pDoc = (CTestDoc *)pFrame->GetActiveDocument();
- CTestDoc *pDoc = ((CMainFrame *)AfxGetMainWnd())->GetActiveDocument();

4. View class pointer
- CMainFrame *pFrame = (CMainFrame *)AfxGetMainWnd();
  CTestView *pView = (CTestView *)pFrame->GetActiveView();
- CTestView *pView = ((CMainFrame *)AfxGetMainWnd())->GetActiveView();

 --------------------------------------------------------------------------------

[MDI type]

1. ChildFrame pointer
- CMainFrame *pFrame = (CMainFrame *)AfxGetMainWnd();
  CChildFrame *pChild = (CChildFrame *)pFrame->GetActiveFrame();
- CChildFrame *pChild = ((CMainFrame *)AfxGetMainWnd())->GetActiveFrame();

2. Document pointer
- CMainFrame *pFrame = (CMainFrame)AfxGetMainWnd();
  CChildFrame *pChild = (CChildFrame *)pFrame->GetActiveFrame();
  CMdiTestDoc *pDoc = (CMdiTestDoc *)pChild->GetActiveDocument();
- CMdiTestDoc *pDoc = (((CMainFrame *)AfxGetMainWnd())->GetActiveFrame())->GetActiveDocument();

3. View pointer

- CCainFrame *pFrame = (CMainFrame)AfxGetMainWnd();
  CChildFrame *pChild = (CChildFrame *)pFrame->GetActiveFrame();
  CMdiTestView *pView = (CMdiTestDoc *)pChild->GetActiveView();
- CMdiTestView *pView = (((CMainFrame *)AfxGetMainWnd())->GetActiveFrame())->GetActiveView();

** This post is written by courtesy of http://egloos.zum.com/printf/v/1940633

[C++] MFC, Add dialog to a SDI based project

Summary to add dialog (formview) to a project based on SDI.

1. Firstly, Create a new project which is based on SDI.

2. Add a new dialog to resource.

3. Add class to the added dialog (should be based on CDialog class) (ex. CMyDlg)

4. Add a member function "BOOL Create(Cwnd* pParentWnd); " in CMyDlg class.

5. type below codes for the member function in .cpp file of the above class,

BOOL CMyDlg::Create(CWnd* pParentWnd)

{

           return CDialog::Create(IDD, pParentWnd);

}

6. include "CMyDlg" in main frame class (Or View class)

7. declare the added class' instance (e.g., CMyDlg *dlg;)

8. Lastly, in .cpp file of Main frame class (or view class), type below codes in OnCreate (if there is no OnCreate, add message function) ,
     dlg = new CMyDlg;

       dlg->Create(this);

       dlg->ShowWindow(SW_SHOW);

       dlg->MoveWindow(0,0,1024,64); 

Additionally, if menu buttons (or event handler) are used for create the dialog, 

refer to below functions:

bool CMFC_TESTView::CreateChildDlg(void)

{

        if(dlg != NULL) return 0;

               dlg = new CMyDlg;

       

               if(dlg->GetSafeHwnd() ==0)

               {

                       if(!dlg->Create(this)) return 0;

                       else {dlg->ShowWindow(SW_SHOW);

        //dlg->MoveWindow(0,0,1024,64);

                              }

               }

  

        return TRUE;

}

bool CMFC_TESTView::DestroyChildDlg(void)

{

               if(dlg != NULL)

                       if(!dlg->DestroyWindow()) return FALSE;

       

        dlg =NULL;

        return TRUE;

}

** This post is written by courtesy of : http://blog.daum.net/_blog/BlogTypeView.do?blogid=0WCjO&articleno=6

Opening image/avi/webcam on MFC dialog window using OpenCV2.3

In the previous post, I opened image/avi/webcam on console window with OpenCV library. Sometimes, console window could be inconvenient for user, because it bases on DOS command. MFC that is a kind of object-based programming tool provides class libraries for  development of window application program. Understanding MFC is not easy for developer, but  for user, it provide good UI(user interface).
Consequently, studying MFC deserve it..
From now on, I will study both MFC and Window API programming with OpenCV2.3.
Anyway this post is about opening image/avi/webcam on MFC dialog window.


Before start, run the Visual studio2008 and make new project. Select MFC Application and dialog based like images shown below.

What a weird configuration!
Don't be confused. 

First, let's set up OpenCV library on it.

And include cv.h and highgui.h in C****Dlg.h

Second, go to resource view and make picture controls and buttons like below.

Add each picture control to variable and name its ID.

Now, a function is needed for convert image to bitmap because MFC support only bmp files. Until OpenCV 2.2, a class named CvvImage is provided and that class provides useful function for using image file in MFC, but from ver2.3, CvvImage class is not provided. So, Some functions that can change any image to bitmap file is needed. 

It is a little bit hard opening image on MFC without CvvImage, but fortunately I found a function in OpenCV Korea cafe.

The function is as follows:

 -------------------------------------------------------------------------------------

void DisplayIplImg(IplImage* pImgIpl, CDC* pDC, CRect rect)
{
 BITMAPINFO bitmapInfo;
 bitmapInfo.bmiHeader.biSize=sizeof(BITMAPINFOHEADER);
 bitmapInfo.bmiHeader.biPlanes=1;
 bitmapInfo.bmiHeader.biCompression=BI_RGB;
 bitmapInfo.bmiHeader.biXPelsPerMeter=100;
 bitmapInfo.bmiHeader.biYPelsPerMeter=100;
 bitmapInfo.bmiHeader.biClrUsed=0;
 bitmapInfo.bmiHeader.biClrImportant=0;
 bitmapInfo.bmiHeader.biSizeImage=0;
 bitmapInfo.bmiHeader.biWidth=pImgIpl->width;
 bitmapInfo.bmiHeader.biHeight=-pImgIpl->height;

 IplImage* tempImage;

 if(pImgIpl->nChannels == 3)
 {
  tempImage = (IplImage*)cvClone(pImgIpl);
  bitmapInfo.bmiHeader.biBitCount=tempImage->depth * tempImage->nChannels;

 }
 else if(pImgIpl->nChannels == 1)
 {
  tempImage =  cvCreateImage(cvGetSize(pImgIpl), IPL_DEPTH_8U, 3);
  cvCvtColor(pImgIpl, tempImage, CV_GRAY2BGR);
  bitmapInfo.bmiHeader.biBitCount=tempImage->depth * tempImage->nChannels;
 }

 pDC->SetStretchBltMode(COLORONCOLOR);
 ::StretchDIBits(pDC->GetSafeHdc(), rect.left, rect.top, rect.right, rect.bottom,
  0, 0, tempImage->width, tempImage->height, tempImage->imageData, &bitmapInfo,
  DIB_RGB_COLORS, SRCCOPY);

 cvReleaseImage(&tempImage);
}

--------------------------------------------------------------------------------

Among 3 variables used in the function, pImgIpl means point variable of image loaded by OpenCV,  pDC means structure information where to open image, and rect means size of where to open image. pDC and rect should be declared by CDC class and CRect class variables before using. 

  

Let's declare variables.

IplImage* image;

CDC* pDC1;

CRect rect1;

These variables are for load image on picture control. 
And then go to OnInitDialog function that is pre-process as soon as run this project.
Type like below.

--------------------------------------------------------

 image = cvLoadImage( "test.jpg" );

 pDC1 = m_pic.GetDC();

 m_pic.GetClientRect(&rect1);

---------------------------------------------------------

Now, add function to display image.

Name of Function is DisplayIplImg, and input each parameter on it

-----------------------------------------------------------------------

void DisplayIplImg(IplImage* pImgIpl, CDC* pDC, CRect rect)

--------------------------------------------------------------

And then go to where the function is declared, copy and paste codes of function

Third, move on to dialog window and double click Load Image button. In there you can make some event.Input below codes in the event function.

-------------------------------------------------------------------

DisplayIplImg(image, pDC1,rect1);

--------------------------------------------------------------------

Move on to dialog window againg and double click close button. In there, input below codes.
-----------------------------------------------------------------------
cvReleaseImage(&image);
-----------------------------------------------------------------------

Now, Let's code for the video clip and webcam to open on dialog window. Both of two are similar. outline is as follows:

1) Declare variables

2) Get the information of picture control
    start capture from video and save buffer for moment

3) Set the timer and call and display buffer image when timer on





1. Declare variables
use Add->Variables  on c***Dlg class and input below
------------------------------------
IplImage* m_FrameVideo;
IplImage* m_FrameWebcam;
CvCapture* captureAVI;
CvCapture* captureCAM;
CDC* pDC2;
CDC* pDC3;
CRect rect2;
CRect rect3;
-------------------------------------

2. Go to initializing function of the class. You can see it easily as double clicking on C***Dlg class. It is same place where you input codes for opening image.

---------------------------------------------------------------------

captureAVI = cvCreateFileCapture( "test.avi" );

captureCAM = cvCaptureFromCAM(0);

pDC2 = m_video.GetDC();

m_video.GetClientRect(&rect2);

pDC3 = m_cam.GetDC();

m_cam.GetClientRect(&rect3);

----------------------------------------------------------------------------

3. In dialog window, just double clink on Open VideoClip button. Then input below codes.
    Repeat again on WebCAM button.

-------------------------------------------------------------
//(In Open VideoClip button)
SetTimer(1,30,NULL);
---------------------------------------------------------------
//(In Open WebCAM button)
SetTimer(2,30,NULL);
-----------------------------------------------------------

In SetTimer Function, first parameter means channel of timer, second parameter means how frequent call Ontimer function.



Go to Message Handler and make OnTimer()

  ------------------------------------------------------------------------
//in OnTimer()

        if(nIDEvent == 1)

        {

              

               m_FrameVideo = cvQueryFrame( captureAVI );

               if(!m_FrameVideo) KillTimer(1);

               else DisplayIplImg(m_FrameVideo, pDC2, rect2);

        }

        if(nIDEvent ==2)

        {

               m_FrameWebcam = cvQueryFrame( captureCAM );

               DisplayIplImg(m_FrameWebcam, pDC3, rect3);

        }

----------------------------------------------------------------

Finally, go to close button function and release memory.

--------------------------------------------------------

cvReleaseCapture(&captureAVI);

cvReleaseCapture(&captureCAM);

------------------------------------------------------------

Result

Easy way to set OpenCV configuration

Every time when you start VC2008 for using OpenCV library, you might feel tired due to routine pre-configuration. some tips are here.

You don't need to set include folder and library folder in 'debug' mode and 'release' mode sperately.





















Like above picture, select "All configuration"  and set each folder.
Furthermore, For dll files that should be input in 'Additional dependencies',  only three dll file is enough, if you are beginner of OpenCV.
Needed dll file for beginner is: 

opencv_core230.lib  opencv_highgui230.lib  opencv_imgproc230.lib


All set up would be done in 'All configuration', you don't need  repeated work.

Opening a image and .avi file and Webcam Video on VC2008 console window using OpenCV2.3

If you don't know how to set OpenCV configuration on Visual Studio 2008, please read previous post. This post continue to follow Open CV study.

I try to open jpg image and avi videoclip in VC2008 console window, and I try also to connect webcam with console window.

At first, type like below. and build and run!

#include <cv.h>

#include <highgui.h>

int main()

{

        IplImage* img = cvLoadImage( "test.jpg" ); 

//"test.jpg" should be in where you are coding; open a image file

        cvNamedWindow( "window1", CV_WINDOW_AUTOSIZE ); //to create window

        cvShowImage( "window1", img ); //poject image file in window made before

        cvWaitKey(0);//wait until next keyboard input

        cvReleaseImage( &img ); //memory release

        cvDestroyWindow( "window1" ); //close window

        return 0;

}

Result

you did one of the three missions!

Second, type this below, and build and run!

#include <cv.h>

#include <highgui.h>

int main()

{

        cvNamedWindow( "yadong", 0 ); //open a new window, size is not determined

        cvResizeWindow( "yadong", 200,200); //determine window size

        cvMoveWindow( "yadong", 100,100); //place window,

        CvCapture* capture = cvCreateFileCapture( "test.avi" ); //open avi file and ready to capture.

        IplImage* frame; //this variable is for captured image.

        char key;

        while(1)

        {

               frame = cvQueryFrame( capture );//captured image from video is saved in this pointer for instance.

               if( !frame ) break;

               cvShowImage( "yadong", frame ); //project image into window

               key = cvWaitKey(20); //wait 20ms for check keyboard input

               if( key == 27 ) break; //27 means 'ESC'

        }

        cvReleaseCapture( &capture );

        cvDestroyWindow( "yadong" );

       

        return 0;

}

Result

Second mission completed!

Finally, Let's connect and project webcam video on the console window.

#include <cv.h>

#include <highgui.h>

int main()

{

        IplImage *frame;

        CvCapture *pCamera;

        int key;

        pCamera = cvCaptureFromCAM(0);

       

        cvNamedWindow( "molka", CV_WINDOW_AUTOSIZE);

        while(1)

        {

               frame = cvQueryFrame( pCamera );

               cvShowImage( "molka", frame);

              

               key = cvWaitKey(30);

               if( (char)key==27 ) break;

        }

        cvReleaseCapture(&pCamera);

        cvDestroyWindow("molka");

        return 0;

}

Result