void SimpleOpenNIViewer::keyboard_callback (const pcl::visualization::KeyboardEvent& event, void* cookie)
{
unsigned char key = 0;
string* message = (string*)cookie;
cout << (*message) << " :: ";
if (event.getKeyCode())
{
key = event.getKeyCode();
//cout << "the key \'" << event.getKeyCode() << "\' (" << (int)event.getKeyCode() << ") was";
}
else
;//cout << "the special key \'" << event.getKeySym() << "\' was";
if (event.keyDown())
;//cout << " pressed" << endl;
else
{
if(key )
{
proc_key(key);
//cout << " released" << endl;
}
}
}
void Visualizer::keyboardEventCloudViewer(const pcl::visualization::KeyboardEvent &event, void *)
{
if(event.keyUp())
{
if(event.getKeySym() == "Left")
{
nextAnnotator();
}
else if(event.getKeySym() == "Right")
{
prevAnnotator();
}
else if(event.getKeySym() == "Escape")
{
shutdown();
}
else if(event.getKeySym() == "Insert")
{
save = true;
}
else if(event.getKeyCode() > 0)
{
callbackKeyHandler(event.getKeyCode(), DrawingAnnotator::CLOUD_VIEWER);
}
}
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void* cookie)
{
AGASTDemo* obj = static_cast<AGASTDemo*> (cookie);
if (event.getKeyCode ())
{
std::stringstream ss; ss << event.getKeyCode ();
obj->detector_type_ = atoi (ss.str ().c_str ());
return;
}
if (event.getKeySym () == "Up")
{
if (obj->threshold_ <= 0.9)
{
PCL_INFO ("[keyboard_callback] Increase AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ + 0.01);
obj->threshold_ += 0.01;
return;
}
PCL_INFO ("[keyboard_callback] Increase AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ + 1);
obj->threshold_ += 1;
return;
}
if (event.getKeySym () == "Down")
{
if (obj->threshold_ <= 0)
return;
if (obj->threshold_ <= 1)
{
PCL_INFO ("[keyboard_callback] Decrease AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ - 0.01);
obj->threshold_ -= 0.01;
return;
}
PCL_INFO ("[keyboard_callback] Decrease AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ - 1);
obj->threshold_ -= 1;
return;
}
if (event.getKeySym () == "Right")
{
PCL_INFO ("[keyboard_callback] Increase AGAST BMAX from %f to %f.\n", obj->bmax_, obj->bmax_ + 1);
obj->bmax_ += 1;
return;
}
if (event.getKeySym () == "Left")
{
if (obj->bmax_ <= 0)
return;
PCL_INFO ("[keyboard_callback] Decrease AGAST BMAX from %f to %f.\n", obj->bmax_, obj->bmax_ - 1);
obj->bmax_ -= 1;
return;
}
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
if (event.getKeyCode ())
cout << "the key \'" << event.getKeyCode () << "\' (" << event.getKeyCode () << ") was";
else
cout << "the special key \'" << event.getKeySym () << "\' was";
if (event.keyDown ())
cout << " pressed" << endl;
else
cout << " released" << endl;
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void* cookie)
{
string* message = static_cast<string*> (cookie);
cout << (*message) << " :: ";
if (event.getKeyCode ())
cout << "the key \'" << event.getKeyCode () << "\' (" << event.getKeyCode () << ") was";
else
cout << "the special key \'" << event.getKeySym () << "\' was";
if (event.keyDown ())
cout << " pressed" << endl;
else
cout << " released" << endl;
}
void Inspector::keyboardCallback(const pcl::visualization::KeyboardEvent& event, void* cookie)
{
if(event.keyDown()) {
if(event.getKeyCode() == 'm') {
toggleModel();
}
else if(event.getKeyCode() == 'c') {
pcd_vis_.removeAllShapes();
}
else if(event.getKeyCode() == 27) {
quitting_ = true;
}
}
}
/** \brief callback function for the PCLvisualizer */
void
keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie)
{
if (event.keyDown())
{
switch (event.getKeyCode())
{
case 27:
case (int)'q':
case (int)'Q':
case (int)'e':
case (int)'E':
cout << "Exiting program" << endl;
quit = true;
break;
case (int)'s':
case (int)'S':
cout << "Saving volume and cloud" << endl;
save = true;
break;
default:
break;
}
}
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
double opacity;
if (event.keyUp())
{
switch (event.getKeyCode())
{
case '1':
viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "nan boundary edges");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "nan boundary edges");
break;
case '2':
viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluding edges");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "occluding edges");
break;
case '3':
viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluded edges");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "occluded edges");
break;
case '4':
viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "high curvature edges");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "high curvature edges");
break;
case '5':
viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "rgb edges");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "rgb edges");
break;
}
}
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
/// If SPACE is pressed, trigger new cloud callback (only works if framerate is set to 0)
if (event.getKeyCode() == ' ' && grabber)
grabber->trigger ();
}
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
// do stuff and visualize here
if (event.keyUp ())
{
switch (event.getKeyCode ())
{
case 'b':
case 'B':
if (threshold_ < 0.1f)
threshold_ += 0.001f;
process ();
break;
case 'v':
case 'V':
if (threshold_ > 0.001f)
threshold_ -= 0.001f;
process ();
break;
case 'n':
case 'N':
depth_dependent_ = !depth_dependent_;
process ();
break;
case 'm':
case 'M':
polygon_refinement_ = !polygon_refinement_;
process ();
break;
}
}
}
void keyboardCallback(const pcl::visualization::KeyboardEvent &event, void *) {
std::string special_key = event.getKeyCode() ? "" : "special ";
if (event.keyDown())
Logger::log(Logger::INFO, "The %skey %c was pressed.", special_key.c_str(), event.getKeyCode());
else
Logger::log(Logger::INFO, "The %skey %c was released.", special_key.c_str(), event.getKeyCode());
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
static pcl::PCDWriter writer;
static std::ostringstream frame;
if (event.keyUp ())
{
if ((event.getKeyCode () == 's') || (event.getKeyCode () == 'S'))
{
boost::mutex::scoped_lock lock (cloud_mutex_);
frame.str ("frame-");
frame << boost::posix_time::to_iso_string (boost::posix_time::microsec_clock::local_time ()) << ".pcd";
writer.writeBinaryCompressed (frame.str (), *cloud_);
PCL_INFO ("Written cloud %s.\n", frame.str ().c_str ());
}
}
}
void
keyboardCB (const pcl::visualization::KeyboardEvent &event, void* params_void)
{
CallbackParameters* params = static_cast<CallbackParameters*> (params_void);
if (event.getKeyCode () == 13 /*enter*/ && event.keyUp ())
update (params);
else if ( event.getKeyCode () == '1' && event.keyUp () )
{
// Switch models visibility
params->show_models_ = !params->show_models_;
for ( list<vtkActor*>::iterator it = params->model_actors_.begin () ; it != params->model_actors_.end () ; ++it )
(*it)->SetVisibility (static_cast<int> (params->show_models_));
params->viz_.getRenderWindow ()->Render ();
}
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
if (event.keyUp ())
{
switch (event.getKeyCode ())
{
case 27:
case 'Q':
case 'q': quit_ = true; visualizer_->close ();
break;
case ' ': continuous_ = !continuous_;
break;
}
}
}
void
keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event, void* stop_void)
{
bool *stop;
char *keyPressed = new char[50];
// Copy the pressed key inside a var
sprintf (keyPressed, "%c", event.getKeyCode ());
stop = static_cast<bool *> (stop_void);
// Check if 0 is pressed and return the value
if (strpbrk ("0", keyPressed))
{
*stop = 1;
//std::cout << "found " << *stop << std::endl;
}
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void *)
{
if (event.keyUp ())
{
switch (event.getKeyCode())
{
case 's':
case 'S':
saveCloud = true; // save pcd file
break;
case 't':
case 'T':
++toggleView %= 2;
break;
}
}
}
/** \brief Callback for setting options in the visualizer via keyboard.
* \param[in] event Registered keyboard event */
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
int key = event.getKeyCode ();
if (event.keyUp ())
switch (key)
{
case (int)'1': show_voxel_centroids = !show_voxel_centroids; break;
case (int)'2': show_supervoxels = !show_supervoxels; break;
case (int)'3': show_graph = !show_graph; break;
case (int)'4': show_normals = !show_normals; break;
case (int)'5': show_supervoxel_normals = !show_supervoxel_normals; break;
case (int)'0': show_refined = !show_refined; break;
case (int)'h': case (int)'H': show_help = !show_help; break;
default: break;
}
}
static void
keyboardCallback(const pcl::visualization::KeyboardEvent &e, void *cookie)
{
OpenNIShoter* recorder = reinterpret_cast<OpenNIShoter*> (cookie);
int key = e.getKeyCode ();
if (e.keyUp())
{
if ((key == 'q') || (key == 'Q'))
{
recorder->exit_ = true;
}
else if ((key == 's') || (key == 'S'))
{
recorder->get_image_ = true;
}
}
}
void
DataCapture::keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie)
{
DataCapture* capture = reinterpret_cast<DataCapture*> (cookie);
if (event.keyDown())
{
switch (event.getKeyCode())
{
case 27:
case (int)'q': case (int)'Q':
case (int)'e': case (int)'E':
// stop the grabber
capture->quit_ = true;
pc::print_info ("Exiting program.\n");
break;
case (int)'s': case (int)'S':
// capture snapshot (if not currently capturing continuously)
if (!capture->continuous_capture_)
{
capture->save_ = true;
pc::print_highlight ("Recording snapshot.\n");
}
break;
case (int)'t': case (int)'T':
// start / stop continuous capture
capture->continuous_capture_ = !capture->continuous_capture_;
pc::print_highlight ("%s continuous recording of data.\n", (capture->continuous_capture_) ? "Starting" : "Stopping");
break;
default:
break;
}
}
}
void
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
boost::mutex::scoped_lock lock (mtx_);
switch (event.getKeyCode ())
{
case '1':
ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::COVARIANCE_MATRIX);
std::cout << "switched to COVARIANCE_MATRIX method\n";
break;
case '2':
ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::AVERAGE_3D_GRADIENT);
std::cout << "switched to AVERAGE_3D_GRADIENT method\n";
break;
case '3':
ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::AVERAGE_DEPTH_CHANGE);
std::cout << "switched to AVERAGE_DEPTH_CHANGE method\n";
break;
case '4':
ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::SIMPLE_3D_GRADIENT);
std::cout << "switched to SIMPLE_3D_GRADIENT method\n";
break;
}
}
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
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
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 ();
}
}
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;
}
