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));
}
void CloudViewer::on_clouds_xyzrgb() {
if(!prop_two_viewports)
CLOG(LDEBUG) << "Set property two_viewports = 1\n";
CLOG(LTRACE) << "CloudViewer::on_clouds_xyzrgb\n";
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = in_cloud_xyzrgb.read();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud2 = in_cloud_xyzrgb2.read();
std::vector<int> indices;
cloud->is_dense = false;
pcl::removeNaNFromPointCloud(*cloud, *cloud, indices);
std::vector<int> indices2;
cloud2->is_dense = false;
pcl::removeNaNFromPointCloud(*cloud2, *cloud2, indices2);
viewer->removePointCloud("viewcloud",v1) ;
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb (cloud);
viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "viewcloud", v1);
viewer->removePointCloud("viewcloud2",v2) ;
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb2 (cloud2);
viewer->addPointCloud<pcl::PointXYZRGB> (cloud2, rgb2, "viewcloud2", v2);
}
//! called if an event happened.
bool CGUIColorSelectDialog::OnEvent(const SEvent& event)
{
if (isEnabled())
{
switch(event.EventType)
{
case EET_GUI_EVENT:
switch(event.GUIEvent.EventType)
{
case EGET_SPINBOX_CHANGED:
{
for ( u32 i = 0; i!= Battery.size (); ++i )
{
if ( event.GUIEvent.Caller == Battery[i] )
{
if (i<4)
{
video::SColor rgb((u32)Battery[0]->getValue(), (u32)Battery[1]->getValue(),
(u32)Battery[2]->getValue(), (u32)Battery[3]->getValue());
video::SColorHSL hsl;
video::SColorf rgb2(rgb);
hsl.fromRGB(rgb2);
Battery[4]->setValue(hsl.Hue);
Battery[5]->setValue(hsl.Saturation);
Battery[6]->setValue(hsl.Luminance);
}
else
{
video::SColorHSL hsl(Battery[4]->getValue(), Battery[5]->getValue(),
Battery[6]->getValue());
video::SColorf rgb2;
hsl.toRGB(rgb2);
video::SColor rgb = rgb2.toSColor();
Battery[1]->setValue((f32)rgb.getRed());
Battery[2]->setValue((f32)rgb.getGreen());
Battery[3]->setValue((f32)rgb.getBlue());
}
}
}
return true;
}
case EGET_ELEMENT_FOCUS_LOST:
Dragging = false;
break;
case EGET_BUTTON_CLICKED:
if (event.GUIEvent.Caller == CloseButton ||
event.GUIEvent.Caller == CancelButton)
{
sendCancelEvent();
remove();
return true;
}
else
if (event.GUIEvent.Caller == OKButton)
{
sendSelectedEvent();
remove();
return true;
}
break;
case EGET_LISTBOX_CHANGED:
case EGET_LISTBOX_SELECTED_AGAIN:
default:
break;
}
break;
case EET_MOUSE_INPUT_EVENT:
switch(event.MouseInput.Event)
{
case EMIE_LMOUSE_PRESSED_DOWN:
DragStart.X = event.MouseInput.X;
DragStart.Y = event.MouseInput.Y;
Dragging = true;
Environment->setFocus(this);
return true;
case EMIE_LMOUSE_LEFT_UP:
Dragging = false;
Environment->removeFocus(this);
return true;
case EMIE_MOUSE_MOVED:
if (Dragging)
{
// gui window should not be dragged outside its parent
if (Parent)
if (event.MouseInput.X < Parent->getAbsolutePosition().UpperLeftCorner.X +1 ||
event.MouseInput.Y < Parent->getAbsolutePosition().UpperLeftCorner.Y +1 ||
event.MouseInput.X > Parent->getAbsolutePosition().LowerRightCorner.X -1 ||
event.MouseInput.Y > Parent->getAbsolutePosition().LowerRightCorner.Y -1)
return true;
move(core::position2d<s32>(event.MouseInput.X - DragStart.X, event.MouseInput.Y - DragStart.Y));
DragStart.X = event.MouseInput.X;
DragStart.Y = event.MouseInput.Y;
return true;
}
default:
break;
}
default:
break;
}
}
return IGUIElement::OnEvent(event);
}
