void updateViewer (ORROctree& octree, PCLVisualizer& viz, std::vector<ORROctree::Node*>::iterator leaf)
{
viz.removeAllShapes();
const float *b = (*leaf)->getBounds (), *center = (*leaf)->getData ()->getPoint ();
float radius = 0.1f*octree.getRoot ()->getRadius ();
// Add the main leaf as a cube
viz.addCube (b[0], b[1], b[2], b[3], b[4], b[5], 0.0, 0.0, 1.0, "main cube");
// Get all full leaves intersecting a sphere with certain radius
std::list<ORROctree::Node*> intersected_leaves;
octree.getFullLeavesIntersectedBySphere(center, radius, intersected_leaves);
char cube_id[128];
int i = 0;
// Show the cubes
for ( std::list<ORROctree::Node*>::iterator it = intersected_leaves.begin () ; it != intersected_leaves.end () ; ++it )
{
sprintf(cube_id, "cube %i", ++i);
b = (*it)->getBounds ();
viz.addCube (b[0], b[1], b[2], b[3], b[4], b[5], 1.0, 1.0, 0.0, cube_id);
}
// Get a random full leaf on the sphere defined by 'center' and 'radius'
ORROctree::Node *rand_leaf = octree.getRandomFullLeafOnSphere (center, radius);
if ( rand_leaf )
{
pcl::ModelCoefficients sphere_coeffs;
sphere_coeffs.values.resize (4);
sphere_coeffs.values[0] = rand_leaf->getCenter ()[0];
sphere_coeffs.values[1] = rand_leaf->getCenter ()[1];
sphere_coeffs.values[2] = rand_leaf->getCenter ()[2];
sphere_coeffs.values[3] = 0.5f*(b[1] - b[0]);
viz.addSphere (sphere_coeffs, "random_full_leaf");
}
}
void
visualize (const ModelLibrary::HashTable& hash_table)
{
PCLVisualizer vis;
vis.setBackgroundColor (0.1, 0.1, 0.1);
const ModelLibrary::HashTableCell* cells = hash_table.getVoxels ();
size_t max_num_entries = 0;
int i, id3[3], num_cells = hash_table.getNumberOfVoxels ();
float half_side, b[6], cell_center[3], spacing = hash_table.getVoxelSpacing ()[0];
char cube_id[128];
// Just get the maximal number of entries in the cells
for ( i = 0 ; i < num_cells ; ++i, ++cells )
{
if (cells->size ()) // That's the number of models in the cell (it's maximum one, since we loaded only one model)
{
size_t num_entries = (*cells->begin ()).second.size(); // That's the number of entries in the current cell for the model we loaded
// Get the max number of entries
if ( num_entries > max_num_entries )
max_num_entries = num_entries;
}
}
// Now, that we have the max. number of entries, we can compute the
// right scale factor for the spheres
float s = (0.5f*spacing)/static_cast<float> (max_num_entries);
cout << "s = " << s << ", max_num_entries = " << max_num_entries << endl;
// Now, render a sphere with the right radius at the right place
for ( i = 0, cells = hash_table.getVoxels () ; i < num_cells ; ++i, ++cells )
{
// Does the cell have any entries?
if (cells->size ())
{
hash_table.compute3dId (i, id3);
hash_table.computeVoxelCenter (id3, cell_center);
// That's half of the cube's side length
half_side = s*static_cast<float> ((*cells->begin ()).second.size ());
// Adjust the bounds of the cube
b[0] = cell_center[0] - half_side; b[1] = cell_center[0] + half_side;
b[2] = cell_center[1] - half_side; b[3] = cell_center[1] + half_side;
b[4] = cell_center[2] - half_side; b[5] = cell_center[2] + half_side;
// Set the id
sprintf (cube_id, "cube %i", i);
// Add to the visualizer
vis.addCube (b[0], b[1], b[2], b[3], b[4], b[5], 1.0, 1.0, 0.0, cube_id);
}
}
vis.addCoordinateSystem(1.5, "global");
vis.resetCamera ();
// Enter the main loop
while (!vis.wasStopped ())
{
vis.spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}