void run (const char* file_name, float voxel_size)
{
PointCloud<PointXYZ>::Ptr points_in (new PointCloud<PointXYZ> ());
PointCloud<PointXYZ>::Ptr points_out (new PointCloud<PointXYZ> ());
PointCloud<Normal>::Ptr normals_in (new PointCloud<Normal> ());
PointCloud<Normal>::Ptr normals_out (new PointCloud<Normal> ());
// Get the points and normals from the input vtk file
#ifdef _SHOW_OCTREE_NORMALS_
if ( !vtk_to_pointcloud (file_name, *points_in, &(*normals_in)) )
return;
#else
if ( !vtk_to_pointcloud (file_name, *points_in, NULL) )
return;
#endif
// Build the octree with the desired resolution
ORROctree octree;
if ( normals_in->size () )
octree.build (*points_in, voxel_size, &*normals_in);
else
octree.build (*points_in, voxel_size);
// Get the first full leaf in the octree (arbitrary order)
std::vector<ORROctree::Node*>::iterator leaf = octree.getFullLeaves ().begin ();
// Get the average points in every full octree leaf
octree.getFullLeavesPoints (*points_out);
// Get the average normal at the points in each leaf
if ( normals_in->size () )
octree.getNormalsOfFullLeaves (*normals_out);
// The visualizer
PCLVisualizer viz;
// Register a keyboard callback
CallbackParameters params(octree, viz, leaf);
viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (¶ms));
// Add the point clouds
viz.addPointCloud (points_in, "cloud in");
viz.addPointCloud (points_out, "cloud out");
if ( normals_in->size () )
viz.addPointCloudNormals<PointXYZ,Normal> (points_out, normals_out, 1, 6.0f, "normals out");
// Change the appearance
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud out");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud out");
// Convert the octree to a VTK poly-data object
// show_octree(&octree, viz, true/*show full leaves only*/);
updateViewer (octree, viz, leaf);
// Enter the main loop
while (!viz.wasStopped ())
{
//main loop of the visualizer
viz.spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
