void MiniMap::setCurrentScene()
{
mEditorView = mWindow->getCurrentTab();
if (mEditorView == NULL) {
return;
}
EditorViewScene *editorViewScene = static_cast<EditorViewScene *>(mEditorView->scene());
if (editorViewScene->mainWindow() != NULL) {
setScene(editorViewScene);
// can affect zoom - need to change it if we make another desision about it
connect(editorViewScene, SIGNAL(sceneRectChanged(QRectF)), this, SLOT(showScene()));
}
}
void MiniMap::setScene(QGraphicsScene *scene)
{
QGraphicsView::setScene(scene);
showScene();
}
int main( int argc, char* argv[] )
{
showScene( argc, argv );
return 1;
}
void pairwiseAlign (
vector<PointCloud, Eigen::aligned_allocator<PointCloud> > data,
vector<pcl::CorrespondencesPtr> correspondencesdata,
vector<PointCloud, Eigen::aligned_allocator<PointCloud> > key3data,
PointCloud &output,
vector<PointCloud, Eigen::aligned_allocator<PointCloud> > &out_data,
vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > & matrix_buffer,
bool initial, double threshold)
{
cout << "pariwise registration ..." << endl;
Eigen::Matrix4f matrix_initial;
Eigen::Matrix4f matrix;
matrix_initial << 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1;
output = data[0];
if (initial == 1)
{
p->addPointCloud (data[0].makeShared (),"3");
p->spinOnce ();
}
matrix_buffer.push_back (matrix_initial);
if (SAVE_EACH_PCD)
{
pcl::io::savePCDFile ("pcd/p1.pcd", data[0], true);
}
out_data.push_back (data[0]);
for (unsigned int i = 1; i < data.size (); i++)
{
PointCloudPtr temp (new PointCloud ());
if (initial)
cout << "# " << i << "->" << i + 1 << ":" << endl;
matrix = twostepAlign (data[i], data[i - 1], key3data[i], key3data[i - 1],
correspondencesdata[i - 1], matrix_initial, *temp, initial, threshold);
if (SAVE_EACH_PCD)
{
string savename;
stringstream strStream;
strStream << i + 1;
savename = "pcd/p" + strStream.str () + ".pcd";
pcl::io::savePCDFile (savename.c_str (), *temp, true);
}
out_data.push_back (*temp);
// for global align
if (matrix_buffer.size () < i + 1)
matrix_buffer.push_back (matrix);
else
matrix_buffer[i] = matrix * matrix_buffer[i];
matrix_initial = matrix;
output = output + *temp;
if (initial==1)
showScene (*p, matrix_buffer[i], output);
}
}
