void visualize(pcl::PointCloud<pcl::PointXYZ>::Ptr pCloud, pcl::visualization::PCLVisualizer::Ptr pVisualizer)
{
//init visualizer
pVisualizer->setSize(640, 480);
pVisualizer->setPosition(640, 0);
pVisualizer->setBackgroundColor(0x00, 0x00, 0x00);
pVisualizer->initCameraParameters();
pVisualizer->addPointCloud(pCloud, "cloud");
//reload visualizer content
pVisualizer->spinOnce(1000000);
}
void
setCam( /* in: */ Eigen::Vector3d &pos, Eigen::Vector3d &up, Eigen::Vector3d &dir,
::pcl::visualization::PCLVisualizer::Ptr pViewerPtr )
{
vtkSmartPointer<vtkRendererCollection> rens =
pViewerPtr->getRendererCollection();
rens->InitTraversal ();
vtkRenderer* renderer = NULL;
int it = 0;
while ((renderer = rens->GetNextItem ()) != NULL && (it < 1) )
{
vtkCamera& camera = *renderer->GetActiveCamera();
camera.SetPosition ( pos[0], pos[1], pos[2] );
camera.SetViewUp ( up[0], up[1], up[2] );
camera.SetFocalPoint( dir[0], dir[1], dir[2] );
++it;
}
pViewerPtr->spinOnce();
}
virtual void processBufferElement(CloudConstPtr cloud) override {
cloud_viewer_->spinOnce();
if (!cloud_viewer_->updatePointCloud(cloud, "OpenNICloud")) {
cloud_viewer_->setPosition(0, 0);
cloud_viewer_->setSize(cloud->width, cloud->height);
cloud_viewer_->addPointCloud(cloud, "OpenNICloud");
cloud_viewer_->resetCameraViewpoint("OpenNICloud");
cloud_viewer_->setCameraPosition(
0, 0, 0, // Position
0, 0, 1, // Viewpoint
0, -1, 0); // Up
}
// TODO; Figure out how to achieve this
// if(cloud_viewer_->wasStopped()) {
// this->cloud_buffer_.reset(new Buffer<CloudConstPtr>());
// this->stop();
// cloud_viewer_->close();
// }
}