void Run()
{
int win_w = 800;
int win_h = 600;
o3d3xx::FrameGrabber::Ptr fg =
std::make_shared<o3d3xx::FrameGrabber>(this->cam_);
o3d3xx::ImageBuffer::Ptr buff =
std::make_shared<o3d3xx::ImageBuffer>();
//
// Setup for point cloud
//
std::shared_ptr<pcl::visualization::PCLVisualizer> pclvis_ =
std::make_shared<pcl::visualization::PCLVisualizer>(this->description_);
pclvis_->setBackgroundColor(0, 0, 0);
pclvis_->setSize(win_w, win_h);
pclvis_->setCameraPosition(-3.0, // x-position
0, // y-position
0, // z-position
0, // x-axis "up" (0 = false)
0, // y-axis "up" (0 = false)
1); // z-axis "up" (1 = true)
// use "A" and "a" to toggle axes indicators
pclvis_->registerKeyboardCallback(
[&](const pcl::visualization::KeyboardEvent& ev)
{
if (ev.getKeySym() == "A" && ev.keyDown())
{
pclvis_->addCoordinateSystem();
}
else if (ev.getKeySym() == "a" && ev.keyDown())
{
pclvis_->removeCoordinateSystem();
}
});
//
// Setup for amplitude, depth, and confidence images
//
// used for all 2d images
cv::namedWindow(this->description_, cv::WINDOW_NORMAL|cv::WINDOW_OPENGL);
cv::resizeWindow(this->description_, win_w, win_h);
int retval;
double min, max;
cv::Rect roi;
// depth
cv::Mat display_img;
cv::Mat depth_colormap_img;
// confidence
cv::Mat conf_img;
cv::Mat conf_colormap_img;
// amplitude
cv::Mat amp_colormap_img;
cv::Mat raw_amp_colormap_img;
bool is_first = true;
while (! pclvis_->wasStopped())
{
pclvis_->spinOnce(100);
if (! fg->WaitForFrame(buff.get(), 500))
{
continue;
}
//------------
// Point cloud
//------------
pcl::visualization::PointCloudColorHandlerGenericField<o3d3xx::PointT>
color_handler(buff->Cloud(), "intensity");
if (is_first)
{
is_first = false;
pclvis_->addPointCloud(buff->Cloud(), color_handler, "cloud");
}
else
{
pclvis_->updatePointCloud(buff->Cloud(), color_handler, "cloud");
}
//------------
// 2D images
//------------
// depth image
cv::minMaxIdx(buff->DepthImage(), &min, &max);
cv::convertScaleAbs(buff->DepthImage(),
depth_colormap_img, 255 / max);
cv::applyColorMap(depth_colormap_img, depth_colormap_img,
cv::COLORMAP_JET);
// confidence image: show as binary image of good pixel vs. bad pixel.
conf_img = buff->ConfidenceImage();
conf_colormap_img = cv::Mat::ones(conf_img.rows,
conf_img.cols,
CV_8UC1);
cv::bitwise_and(conf_img, conf_colormap_img,
conf_colormap_img);
cv::convertScaleAbs(conf_colormap_img,
conf_colormap_img, 255);
cv::applyColorMap(conf_colormap_img, conf_colormap_img,
cv::COLORMAP_SUMMER);
// amplitude
cv::minMaxIdx(buff->AmplitudeImage(), &min, &max);
cv::convertScaleAbs(buff->AmplitudeImage(),
amp_colormap_img, 255 / max);
cv::applyColorMap(amp_colormap_img, amp_colormap_img,
cv::COLORMAP_BONE);
cv::minMaxIdx(buff->RawAmplitudeImage(), &min, &max);
cv::convertScaleAbs(buff->RawAmplitudeImage(),
raw_amp_colormap_img, 255 / max);
cv::applyColorMap(raw_amp_colormap_img, raw_amp_colormap_img,
cv::COLORMAP_BONE);
// stich 2d images together and display
display_img.create(depth_colormap_img.rows*2,
depth_colormap_img.cols*2,
depth_colormap_img.type());
roi = cv::Rect(0, 0,
depth_colormap_img.cols,
depth_colormap_img.rows);
depth_colormap_img.copyTo(display_img(roi));
roi = cv::Rect(depth_colormap_img.cols, 0,
conf_colormap_img.cols,
conf_colormap_img.rows);
conf_colormap_img.copyTo(display_img(roi));
roi = cv::Rect(0, depth_colormap_img.rows,
amp_colormap_img.cols,
amp_colormap_img.rows);
amp_colormap_img.copyTo(display_img(roi));
roi = cv::Rect(depth_colormap_img.cols,
depth_colormap_img.rows,
raw_amp_colormap_img.cols,
raw_amp_colormap_img.rows);
raw_amp_colormap_img.copyTo(display_img(roi));
cv::imshow(this->description_, display_img);
// `ESC', `q', or `Q' to exit
retval = cv::waitKey(33);
if ((retval == 27) || (retval == 113) || (retval == 81))
{
break;
}
} // end: while (...)
}
void vss_doslideshow( VSS_INFO *vss_info )
{
GEM_WINDOW *wprog ;
int (*OnKeyPressed)(int key) ;
INFO_IMAGE inf ;
MFDB mfdb ;
CMD *cmd ;
int fini = 0 ;
int current_pal[256*3] ;
int n ;
int load_ret ;
OnKeyPressed = GemApp.OnKeyPressed ;
GemApp.OnKeyPressed = OnKeyPressedSldShow ;
get_tospalette( current_pal ) ;
cmd = vss_info->cmds ;
if ( cmd == NULL ) fini = 1 ;
if ( vss_info->do_not_show_mouse )
v_hide_c( handle ) ;
/* Prend la configuration courante */
vss_info->wait_mini_sec = config.wait_mini_sec ;
vss_info->do_not_show_mouse = config.do_not_show_mouse ;
vss_info->do_not_cls_scr = config.do_not_cls_scr ;
vss_info->back = config.back ;
vss_info->display_type = config.display_type ;
vss_info->transition = config.transition ;
vss_info->cycle = config.cycle ;
vss_info->ignore_vss = config.ignore_vss ;
vss_info->aff_name = config.aff_name ;
vss_info->aff_prog = config.aff_prog ;
if ( Truecolor )
{
int rvb_blanc[3] = { 1000, 1000, 1000 } ;
int rvb_noir[3] = { 0, 0, 0 } ;
vs_color(handle, 20, rvb_blanc) ;
vs_color(handle, 21, rvb_noir) ;
}
stop_sldshow = 0 ;
num_courant = 0 ;
wprog = DisplayStdProg( "", "", "", 0 ) ;
GWShowWindow( wprog, 0 ) ;
while ( !fini )
{
nb_steps = 0 ;
switch( cmd->cmd_id )
{
case CMD_DISPLAY : load_ret = load_nextimg( cmd->params, &mfdb, &inf, vss_info, wprog ) ;
if ( load_ret == 0 )
{
compute_colors( vss_info, &inf ) ;
if ( ( num_courant > 0 ) && ( wait_for_event( vss_info ) < 0 ) )
fini = 1 ;
else
{
sldcls_screen( vss_info, &inf ) ;
display_img( &mfdb, &inf, vss_info, cmd->params ) ;
}
}
if ( load_ret == 0 )
{
if ( inf.palette != NULL ) free( inf.palette ) ;
if ( mfdb.fd_addr != NULL ) free( mfdb.fd_addr ) ;
}
nb_steps++ ;
break ;
default : /* Impossible */
break ;
}
for (n = 0; n < nb_steps; n++ )
{
if ( cmd != NULL )
{
cmd = cmd->next_cmd ;
num_courant++ ;
}
if ( (cmd == NULL ) && vss_info->cycle )
{
cmd = vss_info->cmds ;
num_courant = 0 ;
}
}
if ( stop_sldshow || !cmd ) fini = 1 ;
}
if ( !cmd )
{
PerfInfo.total_load_time = 0 ;
wait_for_event( vss_info ) ;
}
restore_gemscreen( GemApp.Menu ) ;
set_tospalette( current_pal, nb_colors ) ;
if ( vss_info->do_not_show_mouse )
v_show_c( handle, 1 ) ;
GWDestroyWindow( wprog ) ;
GemApp.OnKeyPressed = OnKeyPressed ;
}
