///Keyboard Event Tracking
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
if (event.getKeySym () == "c" && event.keyDown ())
{
std::cout << "c was pressed => capturing a pointcloud" << std::endl;
std::string filename = "KinectCap";
filename.append(boost::lexical_cast<std::string>(cloud_id));
filename.append(".pcd");
pcl::io::savePCDFileASCII (filename, *cloud);
cloud_id++;
}
if (event.getKeySym () == "b" && event.keyDown ())
{
std::cout << "b was pressed" << std::endl;
if (BackgroundSub == false)
{
//Start background subtraction
if (hasBackground == false)
{
//Copy over the current cloud as a BG cloud.
pcl::copyPointCloud(*cloud, *bgcloud);
hasBackground = true;
}
BackgroundSub = true;
}
else
{
//Stop Background Subtraction
BackgroundSub = false;
}
}
if (event.getKeySym () == "v" && event.keyDown ())
{
std::cout << "v was pressed" << std::endl;
Voxelize = !Voxelize;
}
}
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event, void* viewer_void){
if (event.keyDown () && event.getKeySym () == "Right"){next = true;}
}
/* \brief Callback to interact with the keyboard
*
*/
void keyboardEventOccurred(const pcl::visualization::KeyboardEvent &event, void *)
{
if (event.getKeySym() == "a" && event.keyDown())
{
IncrementLevel();
}
else if (event.getKeySym() == "z" && event.keyDown())
{
DecrementLevel();
}
else if (event.getKeySym() == "d" && event.keyDown())
{
displayCubes = !displayCubes;
update();
}
else if (event.getKeySym() == "x" && event.keyDown())
{
showPointsWithCubes = !showPointsWithCubes;
update();
}
else if (event.getKeySym() == "w" && event.keyDown())
{
if(!wireframe)
wireframe=true;
update();
}
else if (event.getKeySym() == "s" && event.keyDown())
{
if(wireframe)
wireframe=false;
update();
}
}
void simulate_callback (const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
// I choose v for virtual as s for simulate is takwen
if (event.getKeySym () == "v" && event.keyDown ())
{
std::cout << "v was pressed => simulate cloud" << std::endl;
std::vector<pcl::visualization::Camera> cams;
viewer->getCameras(cams);
if (cams.size() !=1){
std::cout << "n cams not 1 exiting\n"; // for now in case ...
return;
}
// cout << "n cams: " << cams.size() << "\n";
pcl::visualization::Camera cam = cams[0];
Eigen::Affine3f pose;
pose = viewer->getViewerPose() ;
std::cout << cam.pos[0] << " "
<< cam.pos[1] << " "
<< cam.pos[2] << " p\n";
Eigen::Matrix3f m;
m =pose.rotation();
//All axies use right hand rule. x=red axis, y=green axis, z=blue axis z direction is point into the screen. z \ \ \ -----------> x | | | | | | y
cout << pose(0,0) << " " << pose(0,1) << " " << pose(0,2) << " " << pose(0,3) << " x0\n";
cout << pose(1,0) << " " << pose(1,1) << " " << pose(1,2) << " " << pose(1,3) << " x1\n";
cout << pose(2,0) << " " << pose(2,1) << " " << pose(2,2) << " " << pose(2,3)<< "x2\n";
double yaw,pitch, roll;
wRo_to_euler(m,yaw,pitch,roll);
printf("RPY: %f %f %f\n", roll*180/M_PI,pitch*180/M_PI,yaw*180/M_PI);
// matrix->GetElement(1,0);
cout << m(0,0) << " " << m(0,1) << " " << m(0,2) << " " << " x0\n";
cout << m(1,0) << " " << m(1,1) << " " << m(1,2) << " " << " x1\n";
cout << m(2,0) << " " << m(2,1) << " " << m(2,2) << " "<< "x2\n\n";
Eigen::Quaternionf rf;
rf = Eigen::Quaternionf(m);
Eigen::Quaterniond r(rf.w(),rf.x(),rf.y(),rf.z());
Eigen::Isometry3d init_pose;
init_pose.setIdentity();
init_pose.translation() << cam.pos[0], cam.pos[1], cam.pos[2];
//Eigen::Quaterniond m = euler_to_quat(-1.54, 0, 0);
init_pose.rotate(r);
//
std::stringstream ss;
print_Isometry3d(init_pose,ss);
std::cout << "init_pose: " << ss.str() << "\n";
viewer->addCoordinateSystem (1.0,pose);
double tic = getTime();
std::stringstream ss2;
ss2.precision(20);
ss2 << "simulated_pcl_" << tic << ".pcd";
capture(init_pose,ss2.str());
cout << (getTime() -tic) << " sec\n";
// these three variables determine the position and orientation of
// the camera.
// double lookat[3]; - focal location
// double eye[3]; - my location
// double up[3]; - updirection
// std::cout << view[0] << "," << view[1] << "," << view[2]
// cameras.back ().view[2] = renderer->GetActiveCamera ()->GetOrientationWXYZ()[2];
//ViewTransform->GetOrientationWXYZ();
// Superclass::OnKeyUp ();
// vtkSmartPointer<vtkCamera> cam = event.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 << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
<< endl;
*/
}
}
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent& event,void* nothing)
{
if (event.getKeySym () == "space" && event.keyDown ())
pcl::console::print_highlight ("Got a keyboard event\n");
next_iteration = true;
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
if (event.getKeyCode () == '1')
show_original = !show_original;
if (event.getKeyCode () == '2')
show_supervoxels = !show_supervoxels;
if (event.getKeyCode () == '3')
show_models = !show_models;
if (event.getKeyCode () == '4')
show_tracks = !show_tracks;
if (event.getKeyCode () == '5')
show_result = !show_result;
if (event.getKeyCode () == '6')
show_coloredsv = !show_coloredsv;
if (event.getKeyCode () == '7')
show_orientation = !show_orientation;
if (event.getKeyCode () == '9')
show_particles = !show_particles;
if (event.getKeyCode () == '0')
pause_playback = !pause_playback;
if (event.getKeyCode () == '`')
resetCamera = true;
if (event.getKeyCode () == '8')
controlCamera = !controlCamera;
}
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
void* viewer_void) {
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer =
*static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
static double dd = 0.05;
if (event.getKeySym () == "r" && event.keyDown ()) {
dd *= 2;
printf("doubled dd to %lf\n", dd);
}
if (event.getKeySym () == "t" && event.keyDown ()) {
dd /= 2.0;
printf("halved dd to %lf\n", dd);
}
if (event.getKeySym () == "n" && event.keyDown ()) {
printf("Current is 2.\n");
Tc = &T2;
}
if (event.getKeySym () == "m" && event.keyDown ()) {
printf("Current is 3.\n");
Tc = &T3;
}
if (event.getKeySym () == "k" && event.keyDown ()) {
printf("Current is 4.\n");
Tc = &T4;
}
if (event.getKeySym () == "i" && event.keyDown ()) {
printf("All is visualized.\n");
viewAll = !viewAll;
}
if (event.getKeySym () == "a" && event.keyDown ()) (*Tc)(0,3) += dd;
if (event.getKeySym () == "d" && event.keyDown ()) (*Tc)(0,3) -= dd;
if (event.getKeySym () == "w" && event.keyDown ()) (*Tc)(1,3) += dd;
if (event.getKeySym () == "s" && event.keyDown ()) (*Tc)(1,3) -= dd;
if (event.getKeySym () == "j" && event.keyDown ()) (*Tc)(2,3) += dd;
if (event.getKeySym () == "l" && event.keyDown ()) (*Tc)(2,3) -= dd;
}
void
keyboardCallback (const pcl::visualization::KeyboardEvent& event, void*)
{
if (event.keyDown ())
{
if (event.getKeyCode () == 'w' || event.getKeyCode () == 'W')
{
window_ += event.getKeyCode () == 'w' ? 1 : -1;
if (window_ < 1)
window_ = 1;
pcl::console::print_info ("Temporal filtering window size: ");
pcl::console::print_value ("%i\n", window_);
grabber_.enableTemporalFiltering (temporal_filtering_, window_);
}
if (event.getKeyCode () == 't' || event.getKeyCode () == 'T')
{
threshold_ += event.getKeyCode () == 't' ? 1 : -1;
if (threshold_ < 0)
threshold_ = 0;
if (threshold_ > 15)
threshold_ = 15;
pcl::console::print_info ("Confidence threshold: ");
pcl::console::print_value ("%i\n", threshold_);
grabber_.setConfidenceThreshold (threshold_);
}
if (event.getKeyCode () == 'k')
{
pcl::console::print_info ("Temporal filtering: ");
switch (temporal_filtering_)
{
case pcl::RealSenseGrabber::RealSense_None:
//{
//temporal_filtering_ = pcl::RealSenseGrabber::RealSense_Median;
//pcl::console::print_value ("median\n");
//break;
//}
//case pcl::RealSenseGrabber::RealSense_Median:
{
temporal_filtering_ = pcl::RealSenseGrabber::RealSense_Average;
pcl::console::print_value ("average\n");
break;
}
case pcl::RealSenseGrabber::RealSense_Average:
{
temporal_filtering_ = pcl::RealSenseGrabber::RealSense_None;
pcl::console::print_value ("none\n");
break;
}
}
grabber_.enableTemporalFiltering (temporal_filtering_, window_);
}
if (event.getKeyCode () == 'b')
{
with_bilateral_ = !with_bilateral_;
pcl::console::print_info ("Bilateral filtering: ");
pcl::console::print_value (with_bilateral_ ? "ON\n" : "OFF\n");
}
if (event.getKeyCode () == 'a' || event.getKeyCode () == 'A')
{
float s = bilateral_.getSigmaS ();
s += event.getKeyCode () == 'a' ? 1 : -1;
if (s <= 1)
s = 1;
pcl::console::print_info ("Bilateral filter spatial sigma: ");
pcl::console::print_value ("%.0f\n", s);
bilateral_.setSigmaS (s);
}
if (event.getKeyCode () == 'z' || event.getKeyCode () == 'Z')
{
float r = bilateral_.getSigmaR ();
r += event.getKeyCode () == 'z' ? 0.01 : -0.01;
if (r <= 0.01)
r = 0.01;
pcl::console::print_info ("Bilateral filter range sigma: ");
pcl::console::print_value ("%.2f\n", r);
bilateral_.setSigmaR (r);
}
if (event.getKeyCode () == 's')
{
boost::format fmt ("RS_%s_%u.pcd");
std::string fn = boost::str (fmt % grabber_.getDeviceSerialNumber ().c_str () % last_cloud_->header.stamp);
pcl::io::savePCDFileBinaryCompressed (fn, *last_cloud_);
pcl::console::print_info ("Saved point cloud: ");
pcl::console::print_value (fn.c_str ());
pcl::console::print_info ("\n");
}
displaySettings ();
}
}
void
keyboardCB (const pcl::visualization::KeyboardEvent &event, void* params_void)
{
if (event.getKeyCode () == 13 /*enter*/ && event.keyUp ())
update (static_cast<CallbackParameters*> (params_void));
}
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
void* viewer_void) {
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer =
*static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
double dd = 0.01;
if (event.getKeySym () == "a" && event.keyDown ()) (*T)(0,3) += dd;
if (event.getKeySym () == "d" && event.keyDown ()) (*T)(0,3) -= dd;
if (event.getKeySym () == "w" && event.keyDown ()) (*T)(1,3) += dd;
if (event.getKeySym () == "s" && event.keyDown ()) (*T)(1,3) -= dd;
if (event.getKeySym () == "j" && event.keyDown ()) {
printf("\nasdf\nasdf\nasdf\n");
(*T)(2,3) += dd;
}
if (event.getKeySym () == "l" && event.keyDown ()) (*T)(2,3) -= dd;
if (event.getKeySym () == "n" && event.keyDown ()) {
T = &T1;
printf("Working on transform 1\n");
}
if (event.getKeySym () == "m" && event.keyDown ()) {
T = &T2;
printf("Working on transform 2\n");
}
if (event.getKeySym () == "k" && event.keyDown ()) {
T = &T3;
printf("Working on transform 3\n");
}
if (event.getKeySym () == "i" && event.keyDown ()) seeAll = !seeAll;
}
void simulate_callback (const pcl::visualization::KeyboardEvent &event,
void* viewer_void)
{
pcl::visualization::PCLVisualizer::Ptr viewer = *static_cast<pcl::visualization::PCLVisualizer::Ptr *> (viewer_void);
// I choose v for virtual as s for simulate is takwen
if (event.getKeySym () == "v" && event.keyDown ())
{
std::cout << "v was pressed => simulate cloud" << std::endl;
std::vector<pcl::visualization::Camera> cams;
viewer->getCameras(cams);
if (cams.size() !=1){
std::cout << "n cams not 1 exiting\n"; // for now in case ...
return;
}
// cout << "n cams: " << cams.size() << "\n";
pcl::visualization::Camera cam = cams[0];
Eigen::Affine3f pose;
pose = viewer->getViewerPose() ;
std::cout << cam.pos[0] << " "
<< cam.pos[1] << " "
<< cam.pos[2] << " p\n";
Eigen::Matrix3f m;
m =pose.rotation();
//All axies use right hand rule. x=red axis, y=green axis, z=blue axis z direction is point into the screen. z \ \ \ -----------> x | | | | | | y
cout << pose(0,0) << " " << pose(0,1) << " " << pose(0,2) << " " << pose(0,3) << " x0\n";
cout << pose(1,0) << " " << pose(1,1) << " " << pose(1,2) << " " << pose(1,3) << " x1\n";
cout << pose(2,0) << " " << pose(2,1) << " " << pose(2,2) << " " << pose(2,3)<< "x2\n";
double yaw,pitch, roll;
wRo_to_euler(m,yaw,pitch,roll);
printf("RPY: %f %f %f\n", roll*180/M_PI,pitch*180/M_PI,yaw*180/M_PI);
// matrix->GetElement(1,0);
cout << m(0,0) << " " << m(0,1) << " " << m(0,2) << " " << " x0\n";
cout << m(1,0) << " " << m(1,1) << " " << m(1,2) << " " << " x1\n";
cout << m(2,0) << " " << m(2,1) << " " << m(2,2) << " "<< "x2\n\n";
Eigen::Quaternionf rf;
rf = Eigen::Quaternionf(m);
Eigen::Quaterniond r(rf.w(),rf.x(),rf.y(),rf.z());
Eigen::Isometry3d init_pose;
init_pose.setIdentity();
init_pose.translation() << cam.pos[0], cam.pos[1], cam.pos[2];
//Eigen::Quaterniond m = euler_to_quat(-1.54, 0, 0);
init_pose.rotate(r);
//
std::stringstream ss;
print_Isometry3d(init_pose,ss);
std::cout << "init_pose: " << ss.str() << "\n";
viewer->addCoordinateSystem (1.0,pose,"reference");
double tic = getTime();
std::stringstream ss2;
ss2.precision(20);
ss2 << "simulated_pcl_" << tic << ".pcd";
capture(init_pose);
cout << (getTime() -tic) << " sec\n";
}
}
void keyboardCallback(const pcl::visualization::KeyboardEvent &event,
void* view3d_void)
{
View3D* view3d = (View3D*) view3d_void;
std::string keysym = event.getKeySym();
if (event.keyDown()) {
/* flags which are checked externaly */
if (keysym == "c") {
view3d->flagCaptureFloor = true;
} else if (keysym == "t") {
view3d->flagExtractTemplate = true;
} else if (keysym == "i") {
view3d->flagTrack = true;
}
#ifdef BB_VERBOSE
std::cout << "event: " << view3d->state << " " << keysym << std::endl;
#endif
/* interaction state machine */
switch (view3d->state) {
case View3D::START: // start state
if (keysym == "v") {
view3d->state = View3D::GRAB;
} else if (keysym == "b") {
view3d->state = View3D::SCALE;
}
break;
case View3D::GRAB: // move the cube
if (keysym == "x") {
view3d->state = View3D::GRABX;
} else if (keysym == "y") {
view3d->state = View3D::GRABY;
} else if (keysym == "z") {
view3d->state = View3D::GRABZ;
}
break;
case View3D::GRABX:
if (keysym == "Up") {
view3d->moveCube(view3d->edit_stepsize, 0, 0);
} else if (keysym == "Down") {
view3d->moveCube(-view3d->edit_stepsize, 0, 0);
}
break;
case View3D::GRABY:
if (keysym == "Up") {
view3d->moveCube(0, view3d->edit_stepsize, 0);
} else if (keysym == "Down") {
view3d->moveCube(0, -view3d->edit_stepsize, 0);
}
break;
case View3D::GRABZ:
if (keysym == "Up") {
view3d->moveCube(0, 0, view3d->edit_stepsize);
} else if (keysym == "Down") {
view3d->moveCube(0, 0, -view3d->edit_stepsize);
}
break;
case View3D::SCALE:
if (keysym == "x") {
view3d->state = View3D::SCALEX;
} else if (keysym == "y") {
view3d->state = View3D::SCALEY;
} else if (keysym == "z") {
view3d->state = View3D::SCALEZ;
}
break;
case View3D::SCALEX:
if (keysym == "Up") {
view3d->sCube->setSx(
view3d->sCube->getSx() +
view3d->edit_stepsize);
} else if (keysym == "Down") {
view3d->sCube->setSx(
view3d->sCube->getSx() -
+view3d->edit_stepsize);
}
break;
case View3D::SCALEY:
if (keysym == "Up") {
view3d->sCube->setSy(
view3d->sCube->getSy() +
view3d->edit_stepsize);
} else if (keysym == "Down") {
view3d->sCube->setSy(
view3d->sCube->getSy() -
view3d->edit_stepsize);
}
break;
case View3D::SCALEZ:
if (keysym == "Up") {
view3d->sCube->setSz(
view3d->sCube->getSz() +
view3d->edit_stepsize);
} else if (keysym == "Down") {
view3d->sCube->setSz(
view3d->sCube->getSz() -
view3d->edit_stepsize);
}
break;
defaul: // if state is not handled
break;
}
/* for all states */
if (keysym == "Escape" ||
keysym == "Return")
{
view3d->state = View3D::START;
}
/**********************/
}
}
void
keyboardEventOccurred(const pcl::visualization::KeyboardEvent& event, void* nothing)
{
if (event.getKeySym() == "space" && event.keyDown())
next_iteration = true;
}
void KeyboardEventOccurred(const pcl::visualization::KeyboardEvent &event, void * nothing){
if(event.keyDown ())
{
//Save point cloud to .pcd file
if(event.getKeySym() == "s")
{
stringstream stream;
stream << "inputCloud" << filesSaved << ".pcd";
string filename = stream.str();
if (io::savePCDFileASCII(filename, *cloud) == 0)
{
filesSaved++;
cout << "Saved " << filename << "." << endl;
}
else PCL_ERROR("Problem saving %s.\n", filename.c_str());
}
//Find sphere using ransac and GA
else if(event.getKeySym() == "n"){
cout << "Looking for sphere" << endl;
test.setData(cloud, 0.05, 0.02);
cout << "Data is set" << endl;
test.compute();
cout << "Displaying best candidate" << endl;
candidate = test.ranSph;
newSphere = true;
}
//Find plane using ransac and GA
else if(event.getKeySym() == "p"){
cout << "Looking for plane" << endl;
plane.setData(cloud, 0.000005);
cout << "Data is set" << endl;
plane.compute();
cout << "Displaying best candidate" << endl;
candidate = plane.ranPln;
newPlane = true;
grabNew = false;
}
//Segment found plane. NB: "p" have to be pressed first
else if(event.getKeySym() == "o"){
plane.segmentPlane();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_p(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
inliers->indices = plane.indexlist;
pcl::ExtractIndices<pcl::PointXYZRGB> extract;
extract.setInputCloud (cloud);
extract.setIndices (inliers);
extract.setNegative (true);
extract.filter (*cloud_p);
cloud = cloud_p;
}
//refresh view and grab new frames
else if(event.getKeySym() == "r"){
grabNew = true;
refresh = true;
}
}
}
void ICCVTutorial<FeatureType>::keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
if (event.keyUp())
{
switch (event.getKeyCode())
{
case '1':
if (!visualizer_.removePointCloud("source_points"))
{
visualizer_.addPointCloud(source_, "source_points");
}
break;
case '2':
if (!visualizer_.removePointCloud("target_points"))
{
visualizer_.addPointCloud(target_, "target_points");
}
break;
case '3':
if (!visualizer_.removePointCloud("source_segmented"))
{
visualizer_.addPointCloud(source_segmented_, "source_segmented");
}
break;
case '4':
if (!visualizer_.removePointCloud("target_segmented"))
{
visualizer_.addPointCloud(target_segmented_, "target_segmented");
}
break;
case '5':
if (!visualizer_.removePointCloud("source_keypoints"))
{
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI> keypoint_color (source_keypoints_, 0, 0, 255);
//pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> keypoint_color (source_keypoints_, "intensity");
visualizer_.addPointCloud(source_keypoints_, keypoint_color, "source_keypoints");
}
break;
case '6':
if (!visualizer_.removePointCloud("target_keypoints"))
{
//pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> keypoint_color (target_keypoints_, "intensity");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI> keypoint_color (target_keypoints_, 255, 0, 0);
visualizer_.addPointCloud(target_keypoints_, keypoint_color, "target_keypoints");
}
break;
case '7':
if (!show_source2target_)
visualizer_.addCorrespondences<pcl::PointXYZI>(source_keypoints_, target_keypoints_, source2target_, "source2target");
else
visualizer_.removeCorrespondences("source2target");
show_source2target_ = !show_source2target_;
break;
case '8':
if (!show_target2source_)
visualizer_.addCorrespondences<pcl::PointXYZI>(target_keypoints_, source_keypoints_, target2source_, "target2source");
else
visualizer_.removeCorrespondences("target2source");
show_target2source_ = !show_target2source_;
break;
case '9':
if (!show_correspondences)
visualizer_.addCorrespondences<pcl::PointXYZI>(source_keypoints_, target_keypoints_, *correspondences_, "correspondences");
else
visualizer_.removeCorrespondences("correspondences");
show_correspondences = !show_correspondences;
break;
case 'i':
case 'I':
if (!visualizer_.removePointCloud("transformed"))
visualizer_.addPointCloud(source_transformed_, "transformed");
break;
case 'r':
case 'R':
if (!visualizer_.removePointCloud("registered"))
visualizer_.addPointCloud(source_registered_, "registered");
break;
case 't':
case 'T':
visualizer_.addPolygonMesh(surface_, "surface");
break;
}
}
}
void Viewer::keyboardEventOccurred( const pcl::visualization::KeyboardEvent &event, void* data ) {
if( ( event.getKeySym() == "d" || event.getKeySym() == "D" ) && event.keyDown() ) {
if( event.getKeySym() == "d" ) {
selectedDepth++;
}
else {
selectedDepth--;
if( selectedDepth < 0 )
selectedDepth = 15;
}
selectedDepth = selectedDepth % 16;
std::cout << "Selected Depth " << selectedDepth << "\n";
}
if( ( event.getKeySym() == "v" || event.getKeySym() == "V" ) && event.keyDown() ) {
if( event.getKeySym() == "v" ) {
selectedViewDir++;
if( selectedViewDir == 7 )
selectedViewDir = -1;
}
else {
selectedViewDir--;
if( selectedViewDir < -1 )
selectedViewDir = 6;
}
std::cout << "Selected View Dir " << selectedViewDir << "\n";
}
if( ( event.getKeySym() == "p" ) && event.keyDown() ) {
processFrame = true;
}
if( ( event.getKeySym() == "s" ) && event.keyDown() ) {
displayScene = !displayScene;
}
if( ( event.getKeySym() == "m" ) && event.keyDown() ) {
displayMap = !displayMap;
}
if( ( event.getKeySym() == "a" ) && event.keyDown() ) {
displayAll = !displayAll;
}
if( ( event.getKeySym() == "c" ) && event.keyDown() ) {
displayCorr = !displayCorr;
}
if( ( event.getKeySym() == "f" ) && event.keyDown() ) {
forceRedraw = true;
}
}
void
keyboardCallback (const pcl::visualization::KeyboardEvent& event, void*)
{
if (event.keyDown ())
{
if (event.getKeyCode () == 'w' || event.getKeyCode () == 'W')
{
window_ += event.getKeyCode () == 'w' ? 1 : -1;
if (window_ < 1)
window_ = 1;
pcl::console::print_info ("Temporal filtering window size: ");
pcl::console::print_value ("%i\n", window_);
grabber_.enableTemporalFiltering (temporal_filtering_, window_);
}
if (event.getKeyCode () == 't' || event.getKeyCode () == 'T')
{
threshold_ += event.getKeyCode () == 't' ? 10 : -10;
if (threshold_ < 0)
threshold_ = 0;
pcl::console::print_info ("Confidence threshold: ");
pcl::console::print_value ("%i\n", threshold_);
grabber_.setConfidenceThreshold (threshold_);
}
if (event.getKeyCode () == 'k')
{
pcl::console::print_info ("Temporal filtering: ");
switch (temporal_filtering_)
{
case pcl::DepthSenseGrabber::DepthSense_None:
{
temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_Median;
pcl::console::print_value ("median\n");
break;
}
case pcl::DepthSenseGrabber::DepthSense_Median:
{
temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_Average;
pcl::console::print_value ("average\n");
break;
}
case pcl::DepthSenseGrabber::DepthSense_Average:
{
temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_None;
pcl::console::print_value ("none\n");
break;
}
}
grabber_.enableTemporalFiltering (temporal_filtering_, window_);
}
if (event.getKeyCode () == 's')
{
boost::format fmt ("DS_%s_%u.pcd");
std::string fn = boost::str (fmt % grabber_.getDeviceSerialNumber ().c_str () % last_cloud_->header.stamp);
pcl::io::savePCDFileBinaryCompressed (fn, *last_cloud_);
pcl::console::print_info ("Saved point cloud: ");
pcl::console::print_value (fn.c_str ());
pcl::console::print_info ("\n");
}
displaySettings ();
}
}