void TrackerManager::InputManager (const visualization::KeyboardEvent& event)
{
if (event.keyUp())
{
char key = event.getKeyCode();
if(key == 'b')
showBackground = !showBackground;
}
}
static void keyboard_callback (const visualization::KeyboardEvent &e, void *cookie)
{
PoseTracker* app = reinterpret_cast<PoseTracker*> (cookie);
int key = e.getKeyCode ();
if (e.keyUp ())
switch (key)
{
case 27:
exit(0);
break;
case 's':
break;
default:
break;
}
}
static void
keyboard_callback (const visualization::KeyboardEvent &e, void *cookie)
{
KinFuStereoApp* app = reinterpret_cast<KinFuStereoApp*> (cookie);
int key = e.getKeyCode ();
if (e.keyUp ())
switch (key)
{
case 27: app->exit_ = true; break;
case (int)'t': case (int)'T': app->scan_ = true; break;
case (int)'a': case (int)'A': app->scan_mesh_ = true; break;
case (int)'h': case (int)'H': app->printHelp (); break;
case (int)'m': case (int)'M': app->scene_cloud_view_.toggleExtractionMode (); break;
case (int)'n': case (int)'N': app->scene_cloud_view_.toggleNormals (); break;
case (int)'c': case (int)'C': app->scene_cloud_view_.clearClouds (true); break;
case (int)'i': case (int)'I': app->toggleIndependentCamera (); break;
case (int)'b': case (int)'B': app->scene_cloud_view_.toggleCube(app->kinfu_.volume().getSize()); break;
case (int)'7': case (int)'8': app->writeMesh (key - (int)'0'); break;
case (int)'1': case (int)'2': case (int)'3': app->writeCloud (key - (int)'0'); break;
case '*': app->image_view_.toggleImagePaint (); break;
case (int)'x': case (int)'X':
app->scan_volume_ = !app->scan_volume_;
cout << endl << "Volume scan: " << (app->scan_volume_ ? "enabled" : "disabled") << endl << endl;
break;
case (int)'v': case (int)'V':
cout << "Saving TSDF volume to tsdf_volume.dat ... " << flush;
app->tsdf_volume_.save ("tsdf_volume.dat", true);
cout << "done [" << app->tsdf_volume_.size () << " voxels]" << endl;
cout << "Saving TSDF volume cloud to tsdf_cloud.pcd ... " << flush;
//pcl::io::savePCDFile<pcl::PointXYZI> ("tsdf_cloud.pcd", *app->tsdf_cloud_ptr_, true);
cout << "done [" << app->tsdf_cloud_ptr_->size () << " points]" << endl;
break;
default:
break;
}
}