ENV["PCLJL_VERBOSE"] = 0 using PCL using Cxx pcd_file = Pkg.dir("PCL", "test", "data", "table_scene_lms400.pcd") # pcd_file = Pkg.dir("PCL", "test", "data", "milk_cartoon_all_small_clorox.pcd") cloud = pcl.PointCloud{pcl.PointXYZ}(pcd_file); cloud_filtered = pcl.PointCloud{pcl.PointXYZ}() sor = pcl.StatisticalOutlierRemoval{pcl.PointXYZ}() pcl.setInputCloud(sor, cloud) pcl.setMeanK(sor, 50) pcl.setStddevMulThresh(sor, 1.0) pcl.filter(sor, cloud_filtered) println("PointCloud before filtering: $(length(cloud)) data points") println("PointCloud before filtering: $(length(cloud_filtered)) data points") viewer = pcl.PCLVisualizer("pcl visualizeer", create_interactor=false) pcl.addCoordinateSystem(viewer, 0.2) pcl.setCameraPosition(viewer, 0,0,1, 0,0,0) pcl.setOffScreenRendering(viewer, true) # Add point clouds red_handler = pcl.PointCloudColorHandlerCustom(cloud, 255, 0, 0) green_handler = pcl.PointCloudColorHandlerCustom(cloud, 0, 255, 0) pcl.addPointCloud(viewer, cloud, red_handler, id="cloud") pcl.addPointCloud(viewer, cloud_filtered, green_handler, id="cloud_filtered") data = pcl.renderedData(viewer) display("text/html", "") # Zoom againt Z-axis pcl.setCameraPosition(viewer, 0,0,0.5, 0,0,0) data = pcl.renderedData(viewer) display("text/html", "")