std::string mvt_tile::encode() {
std::string data;
protozero::pbf_writer writer(data);
for (size_t i = 0; i < layers.size(); i++) {
std::string layer_string;
protozero::pbf_writer layer_writer(layer_string);
layer_writer.add_uint32(15, layers[i].version); /* version */
layer_writer.add_string(1, layers[i].name); /* name */
layer_writer.add_uint32(5, layers[i].extent); /* extent */
for (size_t j = 0; j < layers[i].keys.size(); j++) {
layer_writer.add_string(3, layers[i].keys[j]); /* key */
}
for (size_t v = 0; v < layers[i].values.size(); v++) {
std::string value_string;
protozero::pbf_writer value_writer(value_string);
mvt_value &pbv = layers[i].values[v];
if (pbv.type == mvt_string) {
value_writer.add_string(1, pbv.string_value);
} else if (pbv.type == mvt_float) {
value_writer.add_float(2, pbv.numeric_value.float_value);
} else if (pbv.type == mvt_double) {
value_writer.add_double(3, pbv.numeric_value.double_value);
} else if (pbv.type == mvt_int) {
value_writer.add_int64(4, pbv.numeric_value.int_value);
} else if (pbv.type == mvt_uint) {
value_writer.add_uint64(5, pbv.numeric_value.uint_value);
} else if (pbv.type == mvt_sint) {
value_writer.add_sint64(6, pbv.numeric_value.sint_value);
} else if (pbv.type == mvt_bool) {
value_writer.add_bool(7, pbv.numeric_value.bool_value);
}
layer_writer.add_message(4, value_string);
}
for (size_t f = 0; f < layers[i].features.size(); f++) {
std::string feature_string;
protozero::pbf_writer feature_writer(feature_string);
feature_writer.add_enum(3, layers[i].features[f].type);
feature_writer.add_packed_uint32(2, std::begin(layers[i].features[f].tags), std::end(layers[i].features[f].tags));
std::vector<uint32_t> geometry;
int px = 0, py = 0;
int cmd_idx = -1;
int cmd = -1;
int length = 0;
std::vector<mvt_geometry> &geom = layers[i].features[f].geometry;
for (size_t g = 0; g < geom.size(); g++) {
int op = geom[g].op;
if (op != cmd) {
if (cmd_idx >= 0) {
geometry[cmd_idx] = (length << 3) | (cmd & ((1 << 3) - 1));
}
cmd = op;
length = 0;
cmd_idx = geometry.size();
geometry.push_back(0);
}
if (op == mvt_moveto || op == mvt_lineto) {
long long wwx = geom[g].x;
long long wwy = geom[g].y;
int dx = wwx - px;
int dy = wwy - py;
geometry.push_back(protozero::encode_zigzag32(dx));
geometry.push_back(protozero::encode_zigzag32(dy));
px = wwx;
py = wwy;
length++;
} else if (op == mvt_closepath) {
length++;
} else {
fprintf(stderr, "\nInternal error: corrupted geometry\n");
exit(EXIT_FAILURE);
}
}
if (cmd_idx >= 0) {
geometry[cmd_idx] = (length << 3) | (cmd & ((1 << 3) - 1));
}
feature_writer.add_packed_uint32(4, std::begin(geometry), std::end(geometry));
layer_writer.add_message(2, feature_string);
}
writer.add_message(3, layer_string);
}
std::string compressed;
compress(data, compressed);
return compressed;
}
int
main (int argc, char** argv)
{
// ros::init(argc, argv, "extract_sec");
// ros::NodeHandle node_handle;
// pcl::visualization::PCLVisualizer result_viewer("planar_segmentation");
boost::shared_ptr<pcl::visualization::PCLVisualizer> result_viewer (new pcl::visualization::PCLVisualizer ("planar_segmentation"));
result_viewer->addCoordinateSystem(0.3, "reference", 0);
result_viewer->setCameraPosition(-0.499437, 0.111597, -0.758007, -0.443141, 0.0788583, -0.502855, -0.034703, -0.992209, -0.119654);
result_viewer->setCameraClipDistances(0.739005, 2.81526);
// result_viewer->setCameraPosition(Position, Focal point, View up);
// result_viewer->setCameraClipDistances(Clipping plane);
/***************************************
* parse arguments
***************************************/
if(argc<5)
{
pcl::console::print_info("Usage: extract_sec DATA_PATH/PCD_FILE_FORMAT START_INDEX END_INDEX DEMO_NAME (opt)STEP_SIZE(1)");
exit(1);
}
int view_id=0;
int step=1;
std::string basename_cloud=argv[1];
unsigned int index_start = std::atoi(argv[2]);
unsigned int index_end = std::atoi(argv[3]);
std::string demo_name=argv[4];
if(argc>5) step=std::atoi(argv[5]);
/***************************************
* set up result directory
***************************************/
mkdir("/home/zhen/Documents/Dataset/human_result", S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
char result_folder[50];
std::snprintf(result_folder, sizeof(result_folder), "/home/zhen/Documents/Dataset/human_result/%s", demo_name.c_str());
mkdir(result_folder, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
std::string basename_pcd = (basename_cloud.find(".pcd") == std::string::npos) ? (basename_cloud + ".pcd") : basename_cloud;
std::string filename_pcd;
std::string mainGraph_file;
mainGraph_file = std::string(result_folder) + "/mainGraph.txt";
// write video config
char video_file[100];
std::snprintf(video_file, sizeof(video_file), "%s/video.txt", result_folder);
std::ofstream video_config(video_file);
if (video_config.is_open())
{
video_config << index_start << " " << index_end << " " << demo_name << " " << step;
video_config.close();
}
/***************************************
* set up cloud, segmentation, tracker, detectors, graph, features
***************************************/
TableObject::Segmentation tableObjSeg;
TableObject::Segmentation initialSeg;
TableObject::track3D tracker(false);
TableObject::colorDetector finger1Detector(0,100,0,100,100,200); //right
TableObject::colorDetector finger2Detector(150,250,0,100,0,100); //left
TableObject::touchDetector touchDetector(0.01);
TableObject::bottleDetector bottleDetector;
TableObject::mainGraph mainGraph((int)index_start);
std::vector<manipulation_features> record_features;
manipulation_features cur_features;
TableObject::pcdCloud pcdSceneCloud;
CloudPtr sceneCloud;
CloudPtr planeCloud(new Cloud);
CloudPtr cloud_objects(new Cloud);
CloudPtr cloud_finger1(new Cloud);
CloudPtr cloud_finger2(new Cloud);
CloudPtr cloud_hull(new Cloud);
CloudPtr track_target(new Cloud);
CloudPtr tracked_cloud(new Cloud);
std::vector<pcl::PointIndices> clusters;
pcl::ModelCoefficients coefficients;
pcl::PointIndices f1_indices;
pcl::PointIndices f2_indices;
Eigen::Affine3f toBottleCoordinate;
Eigen::Affine3f transformation;
Eigen::Vector3f bottle_init_ori;
// set threshold of size of clustered cloud
tableObjSeg.setThreshold(30);
initialSeg.setThreshold(500);
// downsampler
pcl::ApproximateVoxelGrid<pcl::PointXYZRGBA> grid;
float leaf_size=0.005;
grid.setLeafSize (leaf_size, leaf_size, leaf_size);
/***************************************
* start processing
***************************************/
unsigned int idx = index_start;
int video_id=0;
bool change = false;
while( idx <= index_end && !result_viewer->wasStopped())
{
std::cout << std::endl;
std::cout << "frame id=" << idx << std::endl;
filename_pcd = cv::format(basename_cloud.c_str(), idx);
if(idx==index_start) {
/***************************************
* Intialization:
* -plane localization
* -object cluster extraction
* -bottle cluster localization
***************************************/
initialSeg.resetCloud(filename_pcd, false);
initialSeg.seg(false);
initialSeg.getObjects(cloud_objects, clusters);
initialSeg.getCloudHull(cloud_hull);
initialSeg.getPlaneCoefficients(coefficients);
initialSeg.getsceneCloud(pcdSceneCloud);
initialSeg.getTableTopCloud(planeCloud);
sceneCloud=pcdSceneCloud.getCloud();
/***************************************
* fingertip, hand_arm removal
***************************************/
//opencv color filtering for fingertip_1
{
pcl::ScopeTime t_finger1("Finger 1(blue) detection");
finger1Detector.setInputCloud(cloud_objects, clusters);
finger1Detector.filter(f1_indices,cloud_finger1);
}
finger1Detector.showDetectedCloud(result_viewer, "finger1");
//opencv color filtering for fingertip_2
{
pcl::ScopeTime t_finger2("Finger 2(orange) detection");
finger2Detector.setInputCloud(cloud_objects, clusters);
finger2Detector.filter(f2_indices,cloud_finger2);
}
finger2Detector.showDetectedCloud(result_viewer, "finger2");
// remove hand (include cluster that contains the detected fingertips and also the other clusters that are touching the cluster)
std::vector<int> hand_arm1=TableObject::findHand(cloud_objects, clusters, f1_indices);
for(int i=hand_arm1.size()-1; i>=0; i--)
{
clusters.erase(clusters.begin()+hand_arm1[i]);
std::cout << "removing hand_arm : cluster index = " << hand_arm1[i] << std::endl;
}
std::vector<int> hand_arm2=TableObject::findHand(cloud_objects, clusters, f2_indices);
for(int i=hand_arm2.size()-1; i>=0; i--)
{
clusters.erase(clusters.begin()+hand_arm2[i]);
std::cout << "removing hand_arm : cluster index = " << hand_arm2[i] << std::endl;
}
// DEBUG
// pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> plane(planeCloud);
// result_viewer->addPointCloud<RefPointType>(planeCloud, plane, "tabletop");
// CloudPtr debug(new Cloud);
// initialSeg.getOutPlaneCloud(debug);
// pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> out_plane(debug);
// result_viewer->addPointCloud<RefPointType>(debug, out_plane, "out_plane");
// choose bottle_id at 1st frame & confirm fitted model is correct
TableObject::view3D::drawClusters(result_viewer, cloud_objects, clusters, true);
while (!result_viewer->wasStopped ())
{
result_viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
std::cout << "cluster size = " << clusters.size() << std::endl;
/***************************************
* Localizing cylinder
***************************************/
CloudPtr cluster_bottle (new Cloud);
int bottle_id = 0;
pcl::copyPointCloud (*cloud_objects, clusters[bottle_id], *cluster_bottle);
bottleDetector.setInputCloud(cluster_bottle);
bottleDetector.fit();
bottleDetector.getTransformation(toBottleCoordinate);
bottle_init_ori= bottleDetector.getOrientation();
float x, y, z, roll, pitch, yaw;
pcl::getTranslationAndEulerAngles(toBottleCoordinate.inverse(), x, y, z, roll, pitch, yaw);
result_viewer->removeCoordinateSystem("reference", 0);
result_viewer->addCoordinateSystem(0.3, toBottleCoordinate.inverse(), "reference", 0);
bottleDetector.drawOrientation(result_viewer);
/***************************************
* Record features
***************************************/
bottle_features cur_bottle_features;
cur_bottle_features.loc[0] = x;
cur_bottle_features.loc[1] = y;
cur_bottle_features.loc[2] = z;
cur_bottle_features.ori[0] = roll;
cur_bottle_features.ori[1] = pitch;
cur_bottle_features.ori[2] = yaw;
cur_bottle_features.color[0] = bottleDetector.getCenter().r;
cur_bottle_features.color[1] = bottleDetector.getCenter().g;
cur_bottle_features.color[2] = bottleDetector.getCenter().b;
cur_bottle_features.size[0] = bottleDetector.getHeight();
cur_bottle_features.size[1] = bottleDetector.getRadius();
cur_features.bottle = cur_bottle_features;
pcl::PointXYZ center_finger1 = TableObject::computeObjCentroid(cloud_finger1);
pcl::PointXYZ center_finger2 = TableObject::computeObjCentroid(cloud_finger2);
center_finger1 = pcl::transformPoint<pcl::PointXYZ>(center_finger1, toBottleCoordinate);
center_finger2 = pcl::transformPoint<pcl::PointXYZ>(center_finger2, toBottleCoordinate);
cur_features.gripper_1.loc[0] = center_finger1.x;
cur_features.gripper_1.loc[1] = center_finger1.y;
cur_features.gripper_1.loc[2] = center_finger1.z;
cur_features.gripper_2.loc[0] = center_finger2.x;
cur_features.gripper_2.loc[1] = center_finger2.y;
cur_features.gripper_2.loc[2] = center_finger2.z;
record_features.push_back(cur_features);
/***************************************
* Tracking initialization
***************************************/
{
pcl::ScopeTime t_track("Tracker initialization");
tracker.setTarget(cluster_bottle, bottleDetector.getCenter());
tracker.initialize();
}
/***************************************
* Touch detection
***************************************/
std::vector<CloudPtr> touch_clouds;
touch_clouds.push_back(cluster_bottle);
touch_clouds.push_back(cloud_finger1);
touch_clouds.push_back(cloud_finger2);
// touch detection between each pair of objects (including fingertips, tabletop objects and tabletop)
for(int i=0; i<touch_clouds.size(); i++)
{
int j;
bool touch;
for(j=i+1; j<touch_clouds.size(); j++)
{
// touch detection between object_i and object_j
char relation [50];
std::sprintf(relation, "object%d_object%d", i, j);
std::cout << relation << std::endl;
{
pcl::ScopeTime t("Touch detection");
touch=touchDetector.detect(touch_clouds[i], touch_clouds[j]);
}
// touchDetector.showTouch(result_viewer, relation, 100+250*(j-i-1), 40+20*i);
// relational scene graph -> main graph
if(touch) {
mainGraph.addInitialRelationalGraph(2);
} else {
mainGraph.addInitialRelationalGraph(0);
}
}
// touch detection between each objects and tabletop
char relation [50];
std::sprintf (relation, "object%d_object%d", i, (int)touch_clouds.size());
std::cout << relation << std::endl;
{
pcl::ScopeTime t("Touch detection");
touch=touchDetector.detectTableTouch(touch_clouds[i], coefficients);
}
// touchDetector.showTouch(result_viewer, relation, 100+250*(j-i-1), 40+20*i);
// relational scene graph -> main graph
if(touch) {
mainGraph.addInitialRelationalGraph(2);
} else {
mainGraph.addInitialRelationalGraph(0);
}
}
/***************************************
* Visualization
***************************************/
// draw extracted object clusters
// TableObject::view3D::drawClusters(result_viewer, cloud_objects, touch_clusters);
// draw extracted plane points
// pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> plane(planeCloud);
// result_viewer->addPointCloud<RefPointType>(planeCloud, plane, "tabletop");
// std::stringstream ss;
// ss << (int)touch_clusters.size();
// result_viewer->addText3D(ss.str(), planeCloud->points.at(334*640+78),0.1);
// draw extracted plane contour polygon
result_viewer->addPolygon<RefPointType>(cloud_hull, 0, 255, 0, "polygon");
change = true;
} else
{
/***************************************
* object cloud extraction
***************************************/
tableObjSeg.resetCloud(filename_pcd, false);
tableObjSeg.seg(cloud_hull,false);
tableObjSeg.getObjects(cloud_objects, clusters);
tableObjSeg.getsceneCloud(pcdSceneCloud);
sceneCloud=pcdSceneCloud.getCloud();
/***************************************
* fingertip extraction
***************************************/
//opencv color filtering for fingertip_1
{
pcl::ScopeTime t_finger1("Finger 1(blue) detection");
finger1Detector.setInputCloud(cloud_objects, clusters);
finger1Detector.filter(f1_indices,cloud_finger1);
}
finger1Detector.showDetectedCloud(result_viewer, "finger1");
//opencv color filtering for fingertip_2
{
pcl::ScopeTime t_finger1("Finger 2(orange) detection");
finger2Detector.setInputCloud(cloud_objects, clusters);
finger2Detector.filter(f2_indices,cloud_finger2);
}
finger2Detector.showDetectedCloud(result_viewer, "finger2");
/***************************************
* filter out black glove cluster & gray sleeve, also update cloud_objects with removed cluster indices
***************************************/
for(int i=0; i<clusters.size(); i++)
{
pcl::CentroidPoint<RefPointType> color_points;
for(int j=0; j<clusters[i].indices.size(); j++)
{
color_points.add(cloud_objects->at(clusters[i].indices[j]));
}
RefPointType mean_color;
color_points.get(mean_color);
if(mean_color.r>30 & mean_color.r<70 & mean_color.g>30 & mean_color.g<70 & mean_color.b>30 & mean_color.b<70)
{
clusters.erase(clusters.begin()+ i);
i=i-1;
}
}
/***************************************
* Tracking objects
***************************************/
{
pcl::ScopeTime t_track("Tracking");
grid.setInputCloud (sceneCloud);
grid.filter (*track_target);
tracker.track(track_target, transformation);
tracker.getTrackedCloud(tracked_cloud);
}
tracker.viewTrackedCloud(result_viewer);
// tracker.drawParticles(result_viewer);
/***************************************
* compute tracked <center, orientation>
***************************************/
pcl::PointXYZ bottle_loc_point(0,0,0);
bottle_loc_point = pcl::transformPoint<pcl::PointXYZ>(bottle_loc_point, transformation);
result_viewer->removeShape("bottle_center");
// result_viewer->addSphere<pcl::PointXYZ>(bottle_loc_point, 0.05, "bottle_center");
Eigen::Vector3f bottle_ori;
pcl::transformVector(bottle_init_ori,bottle_ori,transformation);
TableObject::view3D::drawArrow(result_viewer, bottle_loc_point, bottle_ori, "bottle_arrow");
/***************************************
* calculate toTrackedBottleCoordinate
***************************************/
Eigen::Affine3f toTrackedBottleCoordinate;
Eigen::Vector3f p( bottle_loc_point.x, bottle_loc_point.y, bottle_loc_point.z ); // position
// get a vector that is orthogonal to _orientation ( yc = _orientation x [1,0,0]' )
Eigen::Vector3f yc( 0, bottle_ori[2], -bottle_ori[1] );
yc.normalize();
// get a transform that rotates _orientation into z and moves cloud into origin.
pcl::getTransformationFromTwoUnitVectorsAndOrigin(yc, bottle_ori, p, toTrackedBottleCoordinate);
result_viewer->removeCoordinateSystem("reference");
result_viewer->addCoordinateSystem(0.3, toTrackedBottleCoordinate.inverse(), "reference", 0);
float x, y, z, roll, pitch, yaw;
pcl::getTranslationAndEulerAngles(toTrackedBottleCoordinate.inverse(), x, y, z, roll, pitch, yaw);
/***************************************
* setup bottle feature
***************************************/
cur_features = record_features[video_id-1];
cur_features.bottle.loc[0] = x;
cur_features.bottle.loc[1] = y;
cur_features.bottle.loc[2] = z;
cur_features.bottle.ori[0] = roll;
cur_features.bottle.ori[1] = pitch;
cur_features.bottle.ori[2] = yaw;
pcl::PointXYZ center_finger1 = TableObject::computeObjCentroid(cloud_finger1);
pcl::PointXYZ center_finger2 = TableObject::computeObjCentroid(cloud_finger2);
center_finger1 = pcl::transformPoint<pcl::PointXYZ>(center_finger1, toTrackedBottleCoordinate);
center_finger2 = pcl::transformPoint<pcl::PointXYZ>(center_finger2, toTrackedBottleCoordinate);
cur_features.gripper_1.loc[0] = center_finger1.x;
cur_features.gripper_1.loc[1] = center_finger1.y;
cur_features.gripper_1.loc[2] = center_finger1.z;
cur_features.gripper_2.loc[0] = center_finger2.x;
cur_features.gripper_2.loc[1] = center_finger2.y;
cur_features.gripper_2.loc[2] = center_finger2.z;
record_features.push_back(cur_features);
/***************************************
* Touch detection
***************************************/
std::vector<CloudPtr> touch_clouds;
touch_clouds.push_back(tracked_cloud);
touch_clouds.push_back(cloud_finger1);
touch_clouds.push_back(cloud_finger2);
// touch detection between each pair of objects (including fingertips, tabletop objects and tabletop)
for(int i=0; i<touch_clouds.size(); i++)
{
int j;
bool touch;
for(j=i+1; j<touch_clouds.size(); j++)
{
// touch detection between object_i and object_j
char relation [50];
std::sprintf(relation, "object%d_object%d", i, j);
std::cout << relation << std::endl;
{
pcl::ScopeTime t("Touch detection");
touch=touchDetector.detect(touch_clouds[i], touch_clouds[j]);
}
// touchDetector.showTouch(result_viewer, relation, 100+250*(j-i-1), 40+20*i);
// relational scene graph -> main graph
if(touch) {
mainGraph.addRelationalGraph(2);
} else {
mainGraph.addRelationalGraph(0);
}
}
// touch detection between each objects and tabletop
char relation [50];
std::sprintf (relation, "object%d_object%d", i, (int)touch_clouds.size());
std::cout << relation << std::endl;
{
pcl::ScopeTime t("Touch detection");
touch=touchDetector.detectTableTouch(touch_clouds[i], coefficients);
}
// touchDetector.showTouch(result_viewer, relation, 100+250*(j-i-1), 40+20*i);
// relational scene graph -> main graph
if(touch) {
mainGraph.addRelationalGraph(2);
} else {
mainGraph.addRelationalGraph(0);
}
}
/***************************************
* Visualization
***************************************/
// draw extracted point clusters
// TableObject::view3D::drawText(result_viewer, cloud_objects, touch_clusters);
/***************************************
* Main Graph
***************************************/
change = mainGraph.compareRelationGraph((int)idx);
}
// darw original cloud
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> rgb(sceneCloud);
if(!result_viewer->updatePointCloud<RefPointType>(sceneCloud, rgb, "new frame"))
result_viewer->addPointCloud<RefPointType>(sceneCloud, rgb, "new frame");
result_viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
//debug
std::cout << cur_features.bottle.loc[0] << " " << cur_features.bottle.loc[1] << " " << cur_features.bottle.loc[2]
<< " " << cur_features.bottle.ori[0] << " " << cur_features.bottle.ori[1] << " " << cur_features.bottle.ori[2]
<< " " << cur_features.bottle.color[0] << " " << cur_features.bottle.color[1] << " " << cur_features.bottle.color[2]
<< " " << cur_features.bottle.size[0] << " " << cur_features.bottle.size[1]
<< " " << cur_features.gripper_1.loc[0] << " " << cur_features.gripper_1.loc[1] << " " << cur_features.gripper_1.loc[2]
<< " " << cur_features.gripper_2.loc[0] << " " << cur_features.gripper_2.loc[1] << " " << cur_features.gripper_2.loc[2]
<< std::endl;
if(change)
{
char screenshot[100]; // make sure it's big enough
std::snprintf(screenshot, sizeof(screenshot), "%s/sec_%d.png", result_folder, (int)idx);
std::cout << screenshot << std::endl;
result_viewer->saveScreenshot(screenshot);
//record features
char feature_file[100]; // make sure it's big enough
std::snprintf(feature_file, sizeof(feature_file), "%s/features_original.txt", result_folder);
std::ofstream feature_writer(feature_file, std::ofstream::out | std::ofstream::app);
feature_writer << cur_features.bottle.loc[0] << " " << cur_features.bottle.loc[1] << " " << cur_features.bottle.loc[2]
<< " " << cur_features.bottle.ori[0] << " " << cur_features.bottle.ori[1] << " " << cur_features.bottle.ori[2]
<< " " << cur_features.bottle.color[0] << " " << cur_features.bottle.color[1] << " " << cur_features.bottle.color[2]
<< " " << cur_features.bottle.size[0] << " " << cur_features.bottle.size[1]
<< " " << cur_features.gripper_1.loc[0] << " " << cur_features.gripper_1.loc[1] << " " << cur_features.gripper_1.loc[2]
<< " " << cur_features.gripper_2.loc[0] << " " << cur_features.gripper_2.loc[1] << " " << cur_features.gripper_2.loc[2]
<< std::endl;
feature_writer.close();
std::cout << "features saved at " << feature_file << std::endl;
}
char screenshot[200]; // make sure it's big enough
std::snprintf(screenshot, sizeof(screenshot), "%s/video/sec_%d.png", result_folder, (int)video_id);
std::cout << screenshot << std::endl;
result_viewer->saveScreenshot(screenshot);
idx=idx+step;
video_id=video_id+1;
}
mainGraph.displayMainGraph();
mainGraph.recordMainGraph(mainGraph_file);
while (!result_viewer->wasStopped ())
{
result_viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
