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 viz_cb (pcl::visualization::PCLVisualizer& viz)
{
static bool first_time = true;
double psize = 1.0,opacity = 1.0,linesize =1.0;
std::string cloud_name ("cloud");
boost::mutex::scoped_lock l(m_mutex);
if (new_cloud)
{
//typedef pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal> ColorHandler;
typedef pcl::visualization::PointCloudColorHandlerGenericField <pcl::PointXYZRGBNormal> ColorHandler;
//ColorHandler Color_handler (normal_cloud);
ColorHandler Color_handler (normal_cloud,"curvature");
if (!first_time)
{
viz.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, linesize, cloud_name);
viz.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, cloud_name);
viz.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, psize, cloud_name);
//viz.removePointCloud ("normalcloud");
viz.removePointCloud ("cloud");
}
else
first_time = false;
//viz.addPointCloudNormals<pcl::PointXYZRGBNormal> (normal_cloud, 139, 0.1, "normalcloud");
viz.addPointCloud<pcl::PointXYZRGBNormal> (normal_cloud, Color_handler, std::string("cloud"), 0);
viz.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, linesize, cloud_name);
viz.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, cloud_name);
viz.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, psize, cloud_name);
new_cloud = false;
}
}
void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
{
const std::string centroidname = this->name + "_centroids";
const std::string coloredvoxelname = this->name + "_voxels_colored";
const std::string normalsname = this->name + "_supervoxel_normals";
if(!firstRun)
{
visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, centroidname);
}
visualizer.removeAllPointClouds();
visualizer.removeAllShapes();
addCentroids(visualizer, centroidname);
switch(dispMode)
{
case ALL:
addVoxels(visualizer, coloredvoxelname);
addAdjacency(visualizer);
addNormals(visualizer, normalsname);
break;
case W_VOXELS:
addVoxels(visualizer, coloredvoxelname);
break;
case W_VA:
addVoxels(visualizer, coloredvoxelname);
addAdjacency(visualizer);
break;
case W_VN:
addVoxels(visualizer, coloredvoxelname);
addNormals(visualizer, normalsname);
break;
case W_AN:
addAdjacency(visualizer);
addNormals(visualizer, normalsname);
break;
case W_ADJACENCY:
addAdjacency(visualizer);
break;
case W_NORMALS:
addNormals(visualizer, normalsname);
break;
case ADJACENCY:
visualizer.removeAllPointClouds();
addAdjacency(visualizer);
break;
case NONE:
break;
case TEST:
filterAdjacency(visualizer);
break;
}
}
void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
{
double pointSize = 1.0;
if(firstRun)
{
visualizer.addPointCloud(dispCloudPtr_, std::string("stuff"));
visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, std::string("stuff"));
}
else
{
visualizer.updatePointCloud(dispCloudPtr_, std::string("stuff"));
visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, std::string("stuff"));
}
}
void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
{
const std::string cloudname = this->name;
if(firstRun)
{
visualizer.addPointCloud(dispCloud, cloudname);
visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, cloudname);
}
else
{
visualizer.updatePointCloud(dispCloud, cloudname);
visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, cloudname);
}
}
void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
{
const std::string &cloudname = this->name;
if(firstRun)
{
visualizer.addPointCloud(cloud, cloudname);
visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, cloudname);
}
else
{
visualizer.updatePointCloud(cloud, cloudname);
visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, cloudname);
visualizer.removeAllShapes();
}
visualizer.addLine(pcl::PointXYZ(0, 0, 0), pcl::PointXYZ(0.2, 0, 0), 1, 0, 0, "X");
visualizer.addLine(pcl::PointXYZ(0, 0, 0), pcl::PointXYZ(0, 0.2, 0), 0, 1, 0, "Y");
visualizer.addLine(pcl::PointXYZ(0, 0, 0), pcl::PointXYZ(0, 0, 0.2), 0, 0, 1, "Z");
tf::Vector3 origin = worldToCam * tf::Vector3(0, 0, 0);
tf::Vector3 lineX = worldToCam * tf::Vector3(0.2, 0, 0);
tf::Vector3 lineY = worldToCam * tf::Vector3(0, 0.2, 0);
tf::Vector3 lineZ = worldToCam * tf::Vector3(0, 0, 0.2);
pcl::PointXYZ pclOrigin(origin.x(), origin.y(), origin.z());
pcl::PointXYZ pclLineX(lineX.x(), lineX.y(), lineX.z());
pcl::PointXYZ pclLineY(lineY.x(), lineY.y(), lineY.z());
pcl::PointXYZ pclLineZ(lineZ.x(), lineZ.y(), lineZ.z());
visualizer.addLine(pcl::PointXYZ(0, 0, 0), pclOrigin, 1, 1, 1, "line");
visualizer.addLine(pclOrigin, pclLineX, 1, 0, 0, "lineX");
visualizer.addLine(pclOrigin, pclLineY, 0, 1, 0, "lineY");
visualizer.addLine(pclOrigin, pclLineZ, 0, 0, 1, "lineZ");
for(int i = 0; i < regions.size(); ++i)
{
const Region ®ion = regions[i];
tf::Transform transform = worldToCam * region.transform;
std::ostringstream oss;
oss << "region_" << i;
tf::Vector3 originB = transform * tf::Vector3(0, 0, 0);
tf::Vector3 lineXB = transform * tf::Vector3(0.2, 0, 0);
tf::Vector3 lineYB = transform * tf::Vector3(0, 0.2, 0);
tf::Vector3 lineZB = transform * tf::Vector3(0, 0, 0.2);
pcl::PointXYZ pclOriginB(originB.x(), originB.y(), originB.z());
pcl::PointXYZ pclLineXB(lineXB.x(), lineXB.y(), lineXB.z());
pcl::PointXYZ pclLineYB(lineYB.x(), lineYB.y(), lineYB.z());
pcl::PointXYZ pclLineZB(lineZB.x(), lineZB.y(), lineZB.z());
visualizer.addLine(pclOrigin, pclOriginB, 1, 1, 1, "line_" + oss.str());
visualizer.addLine(pclOriginB, pclLineXB, 1, 0, 0, "lineX_" + oss.str());
visualizer.addLine(pclOriginB, pclLineYB, 0, 1, 0, "lineY_" + oss.str());
visualizer.addLine(pclOriginB, pclLineZB, 0, 0, 1, "lineZ_" + oss.str());
Eigen::Vector3d translation;
Eigen::Quaterniond rotation;
tf::vectorTFToEigen(transform.getOrigin(), translation);
tf::quaternionTFToEigen(transform.getRotation(), rotation);
visualizer.addCube(translation.cast<float>(), rotation.cast<float>(), region.width, region.height, region.depth, oss.str());
}
}