boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis (
pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud1,pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud2)
{
// --------------------------------------------------------
// -----Open 3D viewer and add point cloud and normals-----
// --------------------------------------------------------
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->initCameraParameters ();
int v1(0);
viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
viewer->setBackgroundColor (0.3, 0.3, 0.3, v1+1);
viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb1(cloud1);
viewer->addPointCloud<pcl::PointXYZRGB> (cloud1, rgb1, "sample cloud1", v1);
int v2(0);
viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer->setBackgroundColor (0.3, 0.3, 0.3, v2+1);
viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb2(cloud2);
viewer->addPointCloud<pcl::PointXYZRGB> (cloud2, rgb2, "sample cloud2", v2);
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud1");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud2");
viewer->addCoordinateSystem (1.0);
return (viewer);
}
HSVValue RenderBuffer::Get2ColorAdditive(HSVValue& hsv1, HSVValue& hsv2)
{
xlColor rgb;
xlColor rgb1(hsv1);
xlColor rgb2(hsv2);
rgb.red = rgb1.red + rgb2.red;
rgb.green = rgb1.green + rgb2.green;
rgb.blue = rgb1.blue + rgb2.blue;
return rgb.asHSV();
}
template <typename PointInT> double
RejectivePointCloudCoherence<PointInT>::computeScore (const PointInT &p1,const PointInT& p2, float dist)
{
Eigen::Vector3f rgb1(p1.r, p1.g, p1.b);
Eigen::Vector3f rgb2(p2.r, p2.g, p2.b);
double d_rgb = (rgb1 - rgb2).norm () / 255.0f;
// double d_spatial = (p1.getVector4fMap () - p2.getVector4fMap ()).norm ();
return (1.0 / (1.0 + d_rgb + dist));
}
