bool
pcl::visualization::PCLVisualizerInteractorStyle::loadCameraParameters (const std::string &file)
{
std::ifstream fs;
std::string line;
std::vector<std::string> camera;
bool ret;
fs.open (file.c_str ());
while (!fs.eof ())
{
getline (fs, line);
if (line == "")
continue;
boost::split (camera, line, boost::is_any_of ("/"), boost::token_compress_on);
break;
}
fs.close ();
ret = getCameraParameters (camera);
if (ret)
{
camera_file_ = file;
}
return (ret);
}
static int runFusibile (int argc,
char **argv,
AlgorithmParameters &algParameters
)
{
InputFiles inputFiles;
string ext = ".png";
string results_folder = "results/";
const char* results_folder_opt = "-input_folder";
const char* p_input_folder_opt = "-p_folder";
const char* krt_file_opt = "-krt_file";
const char* images_input_folder_opt = "-images_folder";
const char* gt_opt = "-gt";
const char* gt_nocc_opt = "-gt_nocc";
const char* pmvs_folder_opt = "--pmvs_folder";
const char* remove_black_background_opt = "-remove_black_background";
//read in arguments
for ( int i = 1; i < argc; i++ )
{
if ( strcmp ( argv[i], results_folder_opt ) == 0 ){
results_folder = argv[++i];
cout << "input folder is " << results_folder << endl;
}else if ( strcmp ( argv[i], p_input_folder_opt ) == 0 ){
inputFiles.p_folder = argv[++i];
}
else if ( strcmp ( argv[i], krt_file_opt ) == 0 )
inputFiles.krt_file = argv[++i];
else if ( strcmp ( argv[i], images_input_folder_opt ) == 0 ){
inputFiles.images_folder = argv[++i];
}else if ( strcmp ( argv[i], gt_opt ) == 0 ){
inputFiles.gt_filename = argv[++i];
}else if ( strcmp ( argv[i], gt_nocc_opt ) == 0 ){
inputFiles.gt_nocc_filename = argv[++i];
}
else if ( strncmp ( argv[i], pmvs_folder_opt, strlen ( pmvs_folder_opt ) ) == 0 ) {
inputFiles.pmvs_folder = argv[++i];
}
else if ( strcmp ( argv[i], remove_black_background_opt ) == 0 )
algParameters.remove_black_background = true;
}
if (inputFiles.pmvs_folder.size()>0) {
inputFiles.images_folder = inputFiles.pmvs_folder + "/visualize/";
inputFiles.p_folder = inputFiles.pmvs_folder + "/txt/";
}
cout <<"image folder is " << inputFiles.images_folder << endl;
cout <<"p folder is " << inputFiles.images_folder << endl;
cout <<"pmvs folder is " << inputFiles.pmvs_folder << endl;
GTcheckParameters gtParameters;
gtParameters.dispTolGT = 0.1f;
gtParameters.dispTolGT2 = 0.02f;
gtParameters.divFactor = 1.0f;
// create folder to store result images
time_t timeObj;
time ( &timeObj );
tm *pTime = localtime ( &timeObj );
vector <Mat_<Vec3f> > view_vectors;
time(&timeObj);
pTime = localtime(&timeObj);
char output_folder[256];
sprintf(output_folder, "%s/consistencyCheck-%04d%02d%02d-%02d%02d%02d/",results_folder.c_str(), pTime->tm_year+1900, pTime->tm_mon+1,pTime->tm_mday,pTime->tm_hour, pTime->tm_min, pTime->tm_sec);
#if defined(_WIN32)
_mkdir(output_folder);
#else
mkdir(output_folder, 0777);
#endif
vector<string> subfolders;
get_subfolders(results_folder.c_str(), subfolders);
std::sort(subfolders.begin(), subfolders.end());
vector< Mat_<Vec3b> > warpedImages;
vector< Mat_<Vec3b> > warpedImages_inverse;
//vector< Mat_<float> > depthMaps;
vector< Mat_<float> > updateMaps;
vector< Mat_<Vec3f> > updateNormals;
vector< Mat_<float> > depthMapConsistent;
vector< Mat_<Vec3f> > normalsConsistent;
vector< Mat_<Vec3f> > groundTruthNormals;
vector< Mat_<uint8_t> > valid;
map< int,string> consideredIds;
for(size_t i=0;i<subfolders.size();i++) {
//make sure that it has the right format (DATE_TIME_INDEX)
size_t n = std::count(subfolders[i].begin(), subfolders[i].end(), '_');
if(n < 2)
continue;
if (subfolders[i][0] != '2')
continue;
//get index
//unsigned found = subfolders[i].find_last_of("_");
//find second index
unsigned posFirst = subfolders[i].find_first_of("_") +1;
unsigned found = subfolders[i].substr(posFirst).find_first_of("_") + posFirst +1;
string id_string = subfolders[i].substr(found);
//InputData dat;
//consideredIds.push_back(id_string);
consideredIds.insert(pair<int,string>(i,id_string));
//cout << "id_string is " << id_string << endl;
//cout << "i is " << i << endl;
//char outputPath[256];
//sprintf(outputPath, "%s.png", id_string);
if( access( (inputFiles.images_folder + id_string + ".png").c_str(), R_OK ) != -1 )
inputFiles.img_filenames.push_back((id_string + ".png"));
else if( access( (inputFiles.images_folder + id_string + ".jpg").c_str(), R_OK ) != -1 )
inputFiles.img_filenames.push_back((id_string + ".jpg"));
else if( access( (inputFiles.images_folder + id_string + ".ppm").c_str(), R_OK ) != -1 )
inputFiles.img_filenames.push_back((id_string + ".ppm"));
}
size_t numImages = inputFiles.img_filenames.size ();
cout << "numImages is " << numImages << endl;
cout << "img_filenames is " << inputFiles.img_filenames.size() << endl;
algParameters.num_img_processed = min ( ( int ) numImages, algParameters.num_img_processed );
vector<Mat_<Vec3b> > img_color; // imgLeft_color, imgRight_color;
vector<Mat_<uint8_t> > img_grayscale;
for ( size_t i = 0; i < numImages; i++ ) {
//printf ( "Opening image %ld: %s\n", i, ( inputFiles.images_folder + inputFiles.img_filenames[i] ).c_str () );
img_grayscale.push_back ( imread ( ( inputFiles.images_folder + inputFiles.img_filenames[i] ), IMREAD_GRAYSCALE ) );
if ( algParameters.color_processing ) {
img_color.push_back ( imread ( ( inputFiles.images_folder + inputFiles.img_filenames[i] ), IMREAD_COLOR ) );
}
if ( img_grayscale[i].rows == 0 ) {
printf ( "Image seems to be invalid\n" );
return -1;
}
}
size_t avail;
size_t total;
cudaMemGetInfo( &avail, &total );
size_t used = total - avail;
printf("Device memory used: %fMB\n", used/1000000.0f);
GlobalState *gs = new GlobalState;
gs->cameras = new CameraParameters_cu;
gs->pc = new PointCloud;
cudaMemGetInfo( &avail, &total );
used = total - avail;
printf("Device memory used: %fMB\n", used/1000000.0f);
uint32_t rows = img_grayscale[0].rows;
uint32_t cols = img_grayscale[0].cols;
CameraParameters camParams = getCameraParameters (*(gs->cameras),
inputFiles,algParameters.depthMin,
algParameters.depthMax,
algParameters.cam_scale,
false);
printf("Camera size is %lu\n", camParams.cameras.size());
for ( int i = 0; i < algParameters.num_img_processed; i++ ) {
algParameters.min_disparity = disparityDepthConversion ( camParams.f, camParams.cameras[i].baseline, camParams.cameras[i].depthMax );
algParameters.max_disparity = disparityDepthConversion ( camParams.f, camParams.cameras[i].baseline, camParams.cameras[i].depthMin );
}
selectViews ( camParams, cols, rows, false);
int numSelViews = camParams.viewSelectionSubset.size ();
cout << "Selected views: " << numSelViews << endl;
gs->cameras->viewSelectionSubsetNumber = numSelViews;
ofstream myfile;
for ( int i = 0; i < numSelViews; i++ ) {
cout << camParams.viewSelectionSubset[i] << ", ";
gs->cameras->viewSelectionSubset[i] = camParams.viewSelectionSubset[i];
}
cout << endl;
vector<InputData> inputData;
cout << "Reading normals and depth from disk" << endl;
cout << "Size consideredIds is " << consideredIds.size() << endl;
for (map<int,string>::iterator it=consideredIds.begin(); it!=consideredIds.end(); ++it){
//get corresponding camera
int i = it->first;
string id = it->second;//consideredIds[i];
//int id = atoi(id_string.c_str());
int camIdx = getCameraFromId(id,camParams.cameras);
//cout << "id is " << id << endl;
//cout << "camIdx is " << camIdx << endl;
if(camIdx < 0)// || camIdx == camParams.idRef)
continue;
InputData dat;
dat.id = id;
dat.camId = camIdx;
dat.cam = camParams.cameras[camIdx];
dat.path = results_folder + subfolders[i];
dat.inputImage = imread((inputFiles.images_folder + id + ext), IMREAD_COLOR);
//read normal
cout << "Reading normal " << i << endl;
readDmbNormal((dat.path + "/normals.dmb").c_str(),dat.normals);
//read depth
cout << "Reading disp " << i << endl;
readDmb((dat.path + "/disp.dmb").c_str(),dat.depthMap);
//inputData.push_back(move(dat));
inputData.push_back(dat);
}
// run gpu run
// Init parameters
gs->params = &algParameters;
// Init ImageInfo
//gs->iminfo.cols = img_grayscale[0].cols;
//gs->iminfo.rows = img_grayscale[0].rows;
gs->cameras->cols = img_grayscale[0].cols;
gs->cameras->rows = img_grayscale[0].rows;
gs->params->cols = img_grayscale[0].cols;
gs->params->rows = img_grayscale[0].rows;
gs->resize (img_grayscale.size());
gs->pc->resize (img_grayscale[0].rows * img_grayscale[0].cols);
PointCloudList pc_list;
pc_list.resize (img_grayscale[0].rows * img_grayscale[0].cols);
pc_list.size=0;
pc_list.rows = img_grayscale[0].rows;
pc_list.cols = img_grayscale[0].cols;
gs->pc->rows = img_grayscale[0].rows;
gs->pc->cols = img_grayscale[0].cols;
// Resize lines
for (size_t i = 0; i<img_grayscale.size(); i++)
{
gs->lines[i].resize(img_grayscale[0].rows * img_grayscale[0].cols);
gs->lines[i].n = img_grayscale[0].rows * img_grayscale[0].cols;
//gs->lines.s = img_grayscale[0].step[0];
gs->lines[i].s = img_grayscale[0].cols;
gs->lines[i].l = img_grayscale[0].cols;
}
vector<Mat > img_grayscale_float (img_grayscale.size());
vector<Mat > img_color_float (img_grayscale.size());
vector<Mat > img_color_float_alpha (img_grayscale.size());
vector<Mat > normals_and_depth (img_grayscale.size());
vector<Mat_<uint16_t> > img_grayscale_uint (img_grayscale.size());
for (size_t i = 0; i<img_grayscale.size(); i++)
{
//img_grayscale[i].convertTo(img_grayscale_float[i], CV_32FC1, 1.0/255.0); // or CV_32F works (too)
img_grayscale[i].convertTo(img_grayscale_float[i], CV_32FC1); // or CV_32F works (too)
img_grayscale[i].convertTo(img_grayscale_uint[i], CV_16UC1); // or CV_32F works (too)
if(algParameters.color_processing) {
vector<Mat_<float> > rgbChannels ( 3 );
img_color_float_alpha[i] = Mat::zeros ( img_grayscale[0].rows, img_grayscale[0].cols, CV_32FC4 );
img_color[i].convertTo (img_color_float[i], CV_32FC3); // or CV_32F works (too)
Mat alpha( img_grayscale[0].rows, img_grayscale[0].cols, CV_32FC1 );
split (img_color_float[i], rgbChannels);
rgbChannels.push_back( alpha);
merge (rgbChannels, img_color_float_alpha[i]);
}
/* Create vector of normals and disparities */
vector<Mat_<float> > normal ( 3 );
normals_and_depth[i] = Mat::zeros ( img_grayscale[0].rows, img_grayscale[0].cols, CV_32FC4 );
split (inputData[i].normals, normal);
normal.push_back( inputData[i].depthMap);
merge (normal, normals_and_depth[i]);
}
//int64_t t = getTickCount ();
// Copy images to texture memory
if (algParameters.saveTexture) {
if (algParameters.color_processing)
addImageToTextureFloatColor (img_color_float_alpha, gs->imgs);
else
addImageToTextureFloatGray (img_grayscale_float, gs->imgs);
}
addImageToTextureFloatColor (normals_and_depth, gs->normals_depths);
#define pow2(x) ((x)*(x))
#define get_pow2_norm(x,y) (pow2(x)+pow2(y))
runcuda(*gs, pc_list, numSelViews);
Mat_<Vec3f> norm0 = Mat::zeros ( img_grayscale[0].rows, img_grayscale[0].cols, CV_32FC3 );
Mat_<float> distImg;
char plyFile[256];
sprintf ( plyFile, "%s/final3d_model.ply", output_folder);
printf("Writing ply file %s\n", plyFile);
//storePlyFileAsciiPointCloud ( plyFile, pc_list, inputData[0].cam, distImg);
storePlyFileBinaryPointCloud ( plyFile, pc_list, distImg);
char xyzFile[256];
sprintf ( xyzFile, "%s/final3d_model.xyz", output_folder);
printf("Writing ply file %s\n", xyzFile);
//storeXYZPointCloud ( xyzFile, pc_list, inputData[0].cam, distImg);
return 0;
}
void TurretShape::getCameraTransform(F32* pos,MatrixF* mat)
{
// Returns camera to world space transform
// Handles first person / third person camera position
if (isServerObject() && mShapeInstance)
mShapeInstance->animateNodeSubtrees(true);
if (*pos == 0) {
getRenderEyeTransform(mat);
return;
}
// Get the shape's camera parameters.
F32 min,max;
MatrixF rot;
Point3F offset;
getCameraParameters(&min,&max,&offset,&rot);
// Start with the current eye position
MatrixF eye;
getRenderEyeTransform(&eye);
// Build a transform that points along the eye axis
// but where the Z axis is always up.
{
MatrixF cam(1);
VectorF x,y,z(0,0,1);
eye.getColumn(1, &y);
mCross(y, z, &x);
x.normalize();
mCross(x, y, &z);
z.normalize();
cam.setColumn(0,x);
cam.setColumn(1,y);
cam.setColumn(2,z);
mat->mul(cam,rot);
}
// Camera is positioned straight back along the eye's -Y axis.
// A ray is cast to make sure the camera doesn't go through
// anything solid.
VectorF vp,vec;
vp.x = vp.z = 0;
vp.y = -(max - min) * *pos;
eye.mulV(vp,&vec);
// Use the camera node as the starting position if it exists.
Point3F osp,sp;
if (mDataBlock->cameraNode != -1)
{
mShapeInstance->mNodeTransforms[mDataBlock->cameraNode].getColumn(3,&osp);
getRenderTransform().mulP(osp,&sp);
}
else
eye.getColumn(3,&sp);
// Make sure we don't hit ourself...
disableCollision();
if (isMounted())
getObjectMount()->disableCollision();
// Cast the ray into the container database to see if we're going
// to hit anything.
RayInfo collision;
Point3F ep = sp + vec + offset;
if (mContainer->castRay(sp, ep,
~(WaterObjectType | GameBaseObjectType | DefaultObjectType | sTriggerMask),
&collision) == true) {
// Shift the collision point back a little to try and
// avoid clipping against the front camera plane.
F32 t = collision.t - (-mDot(vec, collision.normal) / vec.len()) * 0.1;
if (t > 0.0f)
ep = sp + offset + (vec * t);
else
eye.getColumn(3,&ep);
}
mat->setColumn(3,ep);
// Re-enable our collision.
if (isMounted())
getObjectMount()->enableCollision();
enableCollision();
// Apply Camera FX.
mat->mul( gCamFXMgr.getTrans() );
}
void
pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
{
if (!init_)
{
pcl::console::print_error ("[PCLVisualizerInteractorStyle] Interactor style not initialized. Please call Initialize () before continuing.\n");
return;
}
if (!rens_)
{
pcl::console::print_error ("[PCLVisualizerInteractorStyle] No renderer collection given! Use SetRendererCollection () before continuing.\n");
return;
}
FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
if (wif_->GetInput () == NULL)
{
wif_->SetInput (Interactor->GetRenderWindow ());
wif_->Modified ();
snapshot_writer_->Modified ();
}
// Save the initial windows width/height
if (win_height_ == -1 || win_width_ == -1)
{
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
win_height_ = win_size[0];
win_width_ = win_size[1];
}
// Get the status of special keys (Cltr+Alt+Shift)
bool shift = Interactor->GetShiftKey ();
bool ctrl = Interactor->GetControlKey ();
bool alt = Interactor->GetAltKey ();
bool keymod = false;
switch (modifier_)
{
case INTERACTOR_KB_MOD_ALT:
{
keymod = alt;
break;
}
case INTERACTOR_KB_MOD_CTRL:
{
keymod = ctrl;
break;
}
case INTERACTOR_KB_MOD_SHIFT:
{
keymod = shift;
break;
}
}
// ---[ Check the rest of the key codes
// Save camera parameters
if ((Interactor->GetKeySym ()[0] == 'S' || Interactor->GetKeySym ()[0] == 's') && ctrl && !alt && !shift)
{
if (camera_file_.empty ())
{
getCameraParameters (camera_);
camera_saved_ = true;
pcl::console::print_info ("Camera parameters saved, you can press CTRL + R to restore.\n");
}
else
{
if (saveCameraParameters (camera_file_))
{
pcl::console::print_info ("Save camera parameters to %s, you can press CTRL + R to restore.\n", camera_file_.c_str ());
}
else
{
pcl::console::print_error ("[PCLVisualizerInteractorStyle] Can't save camera parameters to file: %s.\n", camera_file_.c_str ());
}
}
}
// Restore camera parameters
if ((Interactor->GetKeySym ()[0] == 'R' || Interactor->GetKeySym ()[0] == 'r') && ctrl && !alt && !shift)
{
if (camera_file_.empty ())
{
if (camera_saved_)
{
setCameraParameters (camera_);
pcl::console::print_info ("Camera parameters restored.\n");
}
else
{
pcl::console::print_info ("No camera parameters saved for restoring.\n");
}
}
else
{
if (boost::filesystem::exists (camera_file_))
{
if (loadCameraParameters (camera_file_))
{
pcl::console::print_info ("Restore camera parameters from %s.\n", camera_file_.c_str ());
}
else
{
pcl::console::print_error ("Can't restore camera parameters from file: %s.\n", camera_file_.c_str ());
}
}
else
{
pcl::console::print_info ("No camera parameters saved in %s for restoring.\n", camera_file_.c_str ());
}
}
}
// Switch between point color/geometry handlers
if (Interactor->GetKeySym () && Interactor->GetKeySym ()[0] >= '0' && Interactor->GetKeySym ()[0] <= '9')
{
CloudActorMap::iterator it;
int index = Interactor->GetKeySym ()[0] - '0' - 1;
if (index == -1) index = 9;
// Add 10 more for CTRL+0..9 keys
if (ctrl)
index += 10;
// Geometry ?
if (keymod)
{
for (it = actors_->begin (); it != actors_->end (); ++it)
{
CloudActor *act = &(*it).second;
if (index >= static_cast<int> (act->geometry_handlers.size ()))
continue;
// Save the geometry handler index for later usage
act->geometry_handler_index_ = index;
// Create the new geometry
PointCloudGeometryHandler<pcl::PCLPointCloud2>::ConstPtr geometry_handler = act->geometry_handlers[index];
// Use the handler to obtain the geometry
vtkSmartPointer<vtkPoints> points;
geometry_handler->getGeometry (points);
// Set the vertices
vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New ();
for (vtkIdType i = 0; i < static_cast<vtkIdType> (points->GetNumberOfPoints ()); ++i)
vertices->InsertNextCell (static_cast<vtkIdType>(1), &i);
// Create the data
vtkSmartPointer<vtkPolyData> data = vtkSmartPointer<vtkPolyData>::New ();
data->SetPoints (points);
data->SetVerts (vertices);
// Modify the mapper
if (use_vbos_)
{
vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
mapper->SetInput (data);
// Modify the actor
act->actor->SetMapper (mapper);
}
else
{
vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
#if VTK_MAJOR_VERSION < 6
mapper->SetInput (data);
#else
mapper->SetInputData (data);
#endif
// Modify the actor
act->actor->SetMapper (mapper);
}
act->actor->Modified ();
}
}
else
{
for (it = actors_->begin (); it != actors_->end (); ++it)
{
CloudActor *act = &(*it).second;
// Check for out of bounds
if (index >= static_cast<int> (act->color_handlers.size ()))
continue;
// Save the color handler index for later usage
act->color_handler_index_ = index;
// Get the new color
PointCloudColorHandler<pcl::PCLPointCloud2>::ConstPtr color_handler = act->color_handlers[index];
vtkSmartPointer<vtkDataArray> scalars;
color_handler->getColor (scalars);
double minmax[2];
scalars->GetRange (minmax);
// Update the data
vtkPolyData *data = static_cast<vtkPolyData*>(act->actor->GetMapper ()->GetInput ());
data->GetPointData ()->SetScalars (scalars);
// Modify the mapper
if (use_vbos_)
{
vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
mapper->SetScalarRange (minmax);
mapper->SetScalarModeToUsePointData ();
mapper->SetInput (data);
// Modify the actor
act->actor->SetMapper (mapper);
}
else
{
vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
mapper->SetScalarRange (minmax);
mapper->SetScalarModeToUsePointData ();
#if VTK_MAJOR_VERSION < 6
mapper->SetInput (data);
#else
mapper->SetInputData (data);
#endif
// Modify the actor
act->actor->SetMapper (mapper);
}
act->actor->Modified ();
}
}
Interactor->Render ();
return;
}
std::string key (Interactor->GetKeySym ());
if (key.find ("XF86ZoomIn") != std::string::npos)
zoomIn ();
else if (key.find ("XF86ZoomOut") != std::string::npos)
zoomOut ();
switch (Interactor->GetKeyCode ())
{
case 'h': case 'H':
{
pcl::console::print_info ("| Help:\n"
"-------\n"
" p, P : switch to a point-based representation\n"
" w, W : switch to a wireframe-based representation (where available)\n"
" s, S : switch to a surface-based representation (where available)\n"
"\n"
" j, J : take a .PNG snapshot of the current window view\n"
" c, C : display current camera/window parameters\n"
" f, F : fly to point mode\n"
"\n"
" e, E : exit the interactor\n"
" q, Q : stop and call VTK's TerminateApp\n"
"\n"
" +/- : increment/decrement overall point size\n"
" +/- [+ ALT] : zoom in/out \n"
"\n"
" g, G : display scale grid (on/off)\n"
" u, U : display lookup table (on/off)\n"
"\n"
" r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]\n"
" CTRL + s, S : save camera parameters\n"
" CTRL + r, R : restore camera parameters\n"
"\n"
" ALT + s, S : turn stereo mode on/off\n"
" ALT + f, F : switch between maximized window mode and original size\n"
"\n"
" l, L : list all available geometric and color handlers for the current actor map\n"
" ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)\n"
" 0..9 [+ CTRL] : switch between different color handlers (where available)\n"
"\n"
" SHIFT + left click : select a point (start with -use_point_picking)\n"
"\n"
" x, X : toggle rubber band selection mode for left mouse button\n"
);
break;
}
// Get the list of available handlers
case 'l': case 'L':
{
// Iterate over the entire actors list and extract the geomotry/color handlers list
for (CloudActorMap::iterator it = actors_->begin (); it != actors_->end (); ++it)
{
std::list<std::string> geometry_handlers_list, color_handlers_list;
CloudActor *act = &(*it).second;
for (size_t i = 0; i < act->geometry_handlers.size (); ++i)
geometry_handlers_list.push_back (act->geometry_handlers[i]->getFieldName ());
for (size_t i = 0; i < act->color_handlers.size (); ++i)
color_handlers_list.push_back (act->color_handlers[i]->getFieldName ());
if (!geometry_handlers_list.empty ())
{
int i = 0;
pcl::console::print_info ("List of available geometry handlers for actor "); pcl::console::print_value ("%s: ", (*it).first.c_str ());
for (std::list<std::string>::iterator git = geometry_handlers_list.begin (); git != geometry_handlers_list.end (); ++git)
pcl::console::print_value ("%s(%d) ", (*git).c_str (), ++i);
pcl::console::print_info ("\n");
}
if (!color_handlers_list.empty ())
{
int i = 0;
pcl::console::print_info ("List of available color handlers for actor "); pcl::console::print_value ("%s: ", (*it).first.c_str ());
for (std::list<std::string>::iterator cit = color_handlers_list.begin (); cit != color_handlers_list.end (); ++cit)
pcl::console::print_value ("%s(%d) ", (*cit).c_str (), ++i);
pcl::console::print_info ("\n");
}
}
break;
}
// Switch representation to points
case 'p': case 'P':
{
vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors ();
vtkCollectionSimpleIterator ait;
for (ac->InitTraversal (ait); vtkActor* actor = ac->GetNextActor (ait); )
{
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
{
vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
apart->GetProperty ()->SetRepresentationToPoints ();
}
}
break;
}
// Save a PNG snapshot with the current screen
case 'j': case 'J':
{
char cam_fn[80], snapshot_fn[80];
unsigned t = static_cast<unsigned> (time (0));
sprintf (snapshot_fn, "screenshot-%d.png" , t);
saveScreenshot (snapshot_fn);
sprintf (cam_fn, "screenshot-%d.cam", t);
saveCameraParameters (cam_fn);
pcl::console::print_info ("Screenshot (%s) and camera information (%s) successfully captured.\n", snapshot_fn, cam_fn);
break;
}
// display current camera settings/parameters
case 'c': case 'C':
{
vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->GetActiveCamera ();
double clip[2], focal[3], pos[3], view[3];
cam->GetClippingRange (clip);
cam->GetFocalPoint (focal);
cam->GetPosition (pos);
cam->GetViewUp (view);
int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
std::cerr << "Clipping plane [near,far] " << clip[0] << ", " << clip[1] << endl <<
"Focal point [x,y,z] " << focal[0] << ", " << focal[1] << ", " << focal[2] << endl <<
"Position [x,y,z] " << pos[0] << ", " << pos[1] << ", " << pos[2] << endl <<
"View up [x,y,z] " << view[0] << ", " << view[1] << ", " << view[2] << endl <<
"Camera view angle [degrees] " << cam->GetViewAngle () << endl <<
"Window size [x,y] " << win_size[0] << ", " << win_size[1] << endl <<
"Window position [x,y] " << win_pos[0] << ", " << win_pos[1] << endl;
break;
}
case '=':
{
zoomIn();
break;
}
case 43: // KEY_PLUS
{
if(alt)
zoomIn ();
else
{
vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors ();
vtkCollectionSimpleIterator ait;
for (ac->InitTraversal (ait); vtkActor* actor = ac->GetNextActor (ait); )
{
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
{
vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
float psize = apart->GetProperty ()->GetPointSize ();
if (psize < 63.0f)
apart->GetProperty ()->SetPointSize (psize + 1.0f);
}
}
}
break;
}
case 45: // KEY_MINUS
{
if(alt)
zoomOut ();
else
{
vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors ();
vtkCollectionSimpleIterator ait;
for (ac->InitTraversal (ait); vtkActor* actor = ac->GetNextActor (ait); )
{
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
{
vtkSmartPointer<vtkActor> apart = static_cast<vtkActor*> (path->GetLastNode ()->GetViewProp ());
float psize = apart->GetProperty ()->GetPointSize ();
if (psize > 1.0f)
apart->GetProperty ()->SetPointSize (psize - 1.0f);
}
}
}
break;
}
// Switch between maximize and original window size
case 'f': case 'F':
{
if (keymod)
{
// Get screen size
int *temp = Interactor->GetRenderWindow ()->GetScreenSize ();
int scr_size[2]; scr_size[0] = temp[0]; scr_size[1] = temp[1];
// Get window size
temp = Interactor->GetRenderWindow ()->GetSize ();
int win_size[2]; win_size[0] = temp[0]; win_size[1] = temp[1];
// Is window size = max?
if (win_size[0] == max_win_height_ && win_size[1] == max_win_width_)
{
// Set the previously saved 'current' window size
Interactor->GetRenderWindow ()->SetSize (win_height_, win_width_);
// Set the previously saved window position
Interactor->GetRenderWindow ()->SetPosition (win_pos_x_, win_pos_y_);
Interactor->GetRenderWindow ()->Render ();
Interactor->Render ();
}
// Set to max
else
{
int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
// Save the current window position
win_pos_x_ = win_pos[0];
win_pos_y_ = win_pos[1];
// Save the current window size
win_height_ = win_size[0];
win_width_ = win_size[1];
// Set the maximum window size
Interactor->GetRenderWindow ()->SetSize (scr_size[0], scr_size[1]);
Interactor->GetRenderWindow ()->Render ();
Interactor->Render ();
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
// Save the maximum window size
max_win_height_ = win_size[0];
max_win_width_ = win_size[1];
}
}
else
{
AnimState = VTKIS_ANIM_ON;
vtkAssemblyPath *path = NULL;
Interactor->GetPicker ()->Pick (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1], 0.0, CurrentRenderer);
vtkAbstractPropPicker *picker;
if ((picker = vtkAbstractPropPicker::SafeDownCast (Interactor->GetPicker ())))
path = picker->GetPath ();
if (path != NULL)
Interactor->FlyTo (CurrentRenderer, picker->GetPickPosition ());
AnimState = VTKIS_ANIM_OFF;
}
break;
}
// 's'/'S' w/out ALT
case 's': case 'S':
{
if (keymod)
{
int stereo_render = Interactor->GetRenderWindow ()->GetStereoRender ();
if (!stereo_render)
{
if (stereo_anaglyph_mask_default_)
{
Interactor->GetRenderWindow ()->SetAnaglyphColorMask (4, 3);
stereo_anaglyph_mask_default_ = false;
}
else
{
Interactor->GetRenderWindow ()->SetAnaglyphColorMask (2, 5);
stereo_anaglyph_mask_default_ = true;
}
}
Interactor->GetRenderWindow ()->SetStereoRender (!stereo_render);
Interactor->GetRenderWindow ()->Render ();
Interactor->Render ();
}
else
Superclass::OnKeyDown ();
break;
}
// Display a grid/scale over the screen
case 'g': case 'G':
{
if (!grid_enabled_)
{
grid_actor_->TopAxisVisibilityOn ();
CurrentRenderer->AddViewProp (grid_actor_);
grid_enabled_ = true;
}
else
{
CurrentRenderer->RemoveViewProp (grid_actor_);
grid_enabled_ = false;
}
break;
}
case 'o': case 'O':
{
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
int flag = cam->GetParallelProjection ();
cam->SetParallelProjection (!flag);
CurrentRenderer->SetActiveCamera (cam);
CurrentRenderer->Render ();
break;
}
// Display a LUT actor on screen
case 'u': case 'U':
{
CloudActorMap::iterator it;
for (it = actors_->begin (); it != actors_->end (); ++it)
{
CloudActor *act = &(*it).second;
vtkScalarsToColors* lut = act->actor->GetMapper ()->GetLookupTable ();
lut_actor_->SetLookupTable (lut);
lut_actor_->Modified ();
}
if (!lut_enabled_)
{
CurrentRenderer->AddActor (lut_actor_);
lut_actor_->SetVisibility (true);
lut_enabled_ = true;
}
else
{
CurrentRenderer->RemoveActor (lut_actor_);
lut_enabled_ = false;
}
CurrentRenderer->Render ();
break;
}
// Overwrite the camera reset
case 'r': case 'R':
{
if (!keymod)
{
FindPokedRenderer(Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
if(CurrentRenderer != 0)
CurrentRenderer->ResetCamera ();
else
PCL_WARN ("no current renderer on the interactor style.");
CurrentRenderer->Render ();
break;
}
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
static CloudActorMap::iterator it = actors_->begin ();
// it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
bool found_transformation = false;
for (unsigned idx = 0; idx < actors_->size (); ++idx, ++it)
{
if (it == actors_->end ())
it = actors_->begin ();
const CloudActor& actor = it->second;
if (actor.viewpoint_transformation_.GetPointer ())
{
found_transformation = true;
break;
}
}
// if a valid transformation was found, use it otherwise fall back to default view point.
if (found_transformation)
{
const CloudActor& actor = it->second;
cam->SetPosition (actor.viewpoint_transformation_->GetElement (0, 3),
actor.viewpoint_transformation_->GetElement (1, 3),
actor.viewpoint_transformation_->GetElement (2, 3));
cam->SetFocalPoint (actor.viewpoint_transformation_->GetElement (0, 3) - actor.viewpoint_transformation_->GetElement (0, 2),
actor.viewpoint_transformation_->GetElement (1, 3) - actor.viewpoint_transformation_->GetElement (1, 2),
actor.viewpoint_transformation_->GetElement (2, 3) - actor.viewpoint_transformation_->GetElement (2, 2));
cam->SetViewUp (actor.viewpoint_transformation_->GetElement (0, 1),
actor.viewpoint_transformation_->GetElement (1, 1),
actor.viewpoint_transformation_->GetElement (2, 1));
}
else
{
cam->SetPosition (0, 0, 0);
cam->SetFocalPoint (0, 0, 1);
cam->SetViewUp (0, -1, 0);
}
// go to the next actor for the next key-press event.
if (it != actors_->end ())
++it;
else
it = actors_->begin ();
CurrentRenderer->SetActiveCamera (cam);
CurrentRenderer->ResetCameraClippingRange ();
CurrentRenderer->Render ();
break;
}
case 'x' : case 'X' :
{
CurrentMode = (CurrentMode == ORIENT_MODE) ? SELECT_MODE : ORIENT_MODE;
if (CurrentMode == SELECT_MODE)
{
// Save the point picker
point_picker_ = static_cast<vtkPointPicker*> (Interactor->GetPicker ());
// Switch for an area picker
vtkSmartPointer<vtkAreaPicker> area_picker = vtkSmartPointer<vtkAreaPicker>::New ();
Interactor->SetPicker (area_picker);
}
else
{
// Restore point picker
Interactor->SetPicker (point_picker_);
}
break;
}
case 'q': case 'Q':
{
Interactor->ExitCallback ();
return;
}
default:
{
Superclass::OnKeyDown ();
break;
}
}
KeyboardEvent event (true, Interactor->GetKeySym (), Interactor->GetKeyCode (), Interactor->GetAltKey (), Interactor->GetControlKey (), Interactor->GetShiftKey ());
keyboard_signal_ (event);
rens_->Render ();
Interactor->Render ();
}