void KMDriverDbWidget::setDriver(const QString &manu, const QString &model)
{
QListBoxItem *item = m_manu->findItem(manu);
QString model_(model);
if(item)
{
m_manu->setCurrentItem(item);
item = m_model->findItem(model_);
if(!item)
// try by stripping the manufacturer name from
// the beginning of the model string. This is
// often the case with PPD files
item = m_model->findItem(model_.replace(0, manu.length() + 1, QString::fromLatin1("")));
if(item)
m_model->setCurrentItem(item);
}
}
void shot_detector::loadModel(pcl::PointCloud<PointType>::Ptr model, std::string model_name)
{
std::string filename = model_name;
/*vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
vtkSmartPointer<vtkPolyData> data=vtkSmartPointer<vtkPolyData>::New();
reader->SetFileName ( filename.c_str() );
reader->Update();
data=reader->GetOutput();
std::cerr << "model loaded" << std::endl;
pcl::io::vtkPolyDataToPointCloud(data,*model);*/
pcl::PointCloud<pcl::PointXYZRGB>::Ptr model_ (new pcl::PointCloud<pcl::PointXYZRGB> ());
pcl::io::loadOBJFile(filename, *model_);
pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
viewer.showCloud (model_);
while (!viewer.wasStopped ()) {
}
}
shot_detector::shot_detector()
{
data = false;
activated = false;
std::cerr << "Starting" << std::endl;
// Start the ros stuff such as the subscriber and the service
nh = ros::NodeHandle("apc_object_detection");
loadParameters();
//kinect=nh.subscribe("/kinect2_cool/depth_highres/points", 1, &shot_detector::PointCloudCallback,this);
processor = nh.advertiseService("Shot_detector", &shot_detector::processCloud, this);
// As we use Ptr to access our pointcloud we first have to initalize something to point to
pcl::PointCloud<PointType>::Ptr model_ (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr model_keypoints_ (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene_ (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene_keypoints_ (new pcl::PointCloud<PointType> ());
pcl::PointCloud<NormalType>::Ptr model_normals_ (new pcl::PointCloud<NormalType> ());
pcl::PointCloud<NormalType>::Ptr scene_normals_ (new pcl::PointCloud<NormalType> ());
pcl::PointCloud<DescriptorType>::Ptr model_descriptors_ (new pcl::PointCloud<DescriptorType> ());
pcl::PointCloud<DescriptorType>::Ptr scene_descriptors_ (new pcl::PointCloud<DescriptorType> ());
pcl::CorrespondencesPtr model_scene_corrs_ (new pcl::Correspondences ());
pcl::PointCloud<PointType>::Ptr model_good_kp_ (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene_good_kp_ (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr objects_ (new pcl::PointCloud<PointType> ());
//pcl::PointCloud<DescriptorType>::Ptr model_descriptors_ (new pcl::PointCloud<DescriptorType> ());
//pcl::PointCloud<DescriptorType>::Ptr scene_descriptors_ (new pcl::PointCloud<DescriptorType> ());
model = model_;
model_keypoints = model_keypoints_;
scene = scene_;
scene_keypoints = scene_keypoints_;
model_normals = model_normals_;
scene_normals = scene_normals_;
model_descriptors = model_descriptors_;
scene_descriptors = scene_descriptors_;
model_scene_corrs = model_scene_corrs_;
model_good_kp = model_good_kp_;
scene_good_kp = scene_good_kp_;
objects = objects_;
pcl::CorrespondencesPtr correspondences (new pcl::Correspondences);
correspondences_ = correspondences;
//Set up a couple of the pcl settings
descr_est.setRadiusSearch (descr_rad_);
norm_est.setKSearch (10);
//calcPFHRGBDescriptors(model,model_keypoints,model_normals,model_descriptors);
}
std::string operator()(Args&&... args)
{
json::wvalue ctx(model_(std::forward<Args>(args)...));
return view_.render(ctx);
}
