void S2ObjectViewer::display() {
LOG(LTRACE) << "S2ObjectViewer::display";
pcl::PointCloud<pcl::PointXYZRGB>::Ptr in_cloud_1_temp = in_cloud.read();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_1(new pcl::PointCloud<pcl::PointXYZ>());
pcl::copyPointCloud(*in_cloud_1_temp, *cloud_1);
pcl::PointCloud<PointXYZSHOT>::Ptr shots = in_shots.read();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_2(new pcl::PointCloud<pcl::PointXYZ>());
pcl::copyPointCloud(*shots, *cloud_2);
pcl::PointCloud<PointXYZSIFT>::Ptr sifts = in_sifts.read();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_3(new pcl::PointCloud<pcl::PointXYZ>());
pcl::copyPointCloud(*sifts, *cloud_3);
std::vector<int> indices;
cloud_1->is_dense = false;
pcl::removeNaNFromPointCloud(*cloud_1, *cloud_1, indices);
viewer->removeAllPointClouds();
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> blue ( cloud_1, cloud_r, cloud_g, cloud_b);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> green ( cloud_2, shot_r, shot_g, shot_b);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> red ( cloud_3, sift_r, sift_g, sift_b);
viewer->addPointCloud<pcl::PointXYZ> (cloud_1, blue, "cloud");
viewer->addPointCloud<pcl::PointXYZ> (cloud_2, green, "shots");
viewer->addPointCloud<pcl::PointXYZ> (cloud_3, red, "sifts");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, cloud_size, "cloud");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, sift_size, "sifts");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, shot_size, "shots");
}
PointCloudPtr cutNearCenter(PointCloudPtr cloud, PointT center)
{
PointCloudPtr cloud_1(new PointCloud), cloud_2(new PointCloud), cloud_3(new PointCloud);
pcl::PassThrough<PointT> pass;
pass.setInputCloud(cloud);
pass.setFilterFieldName("x");
pass.setFilterLimits(center.x-maxWidth/2, center.x+maxWidth/2);
pass.filter(*cloud_1);
pass.setInputCloud(cloud_1);
pass.setFilterFieldName("y");
pass.setFilterLimits(center.y, center.y+maxHeight+2);
pass.filter(*cloud_2);
pass.setInputCloud(cloud_2);
pass.setFilterFieldName("z");
pass.setFilterLimits(center.z-maxWidth/2, center.z+plusDepth);
pass.filter(*cloud_3);
movePointCloud(cloud_3, -center.x, -center.y, -center.z);
zoomPointCloud(cloud_3, 1, 1, zZoom);
return cloud_3;
}
