void SimpleOpenNIViewer::keyboard_callback (const pcl::visualization::KeyboardEvent& event, void* cookie) { unsigned char key = 0; string* message = (string*)cookie; cout << (*message) << " :: "; if (event.getKeyCode()) { key = event.getKeyCode(); //cout << "the key \'" << event.getKeyCode() << "\' (" << (int)event.getKeyCode() << ") was"; } else ;//cout << "the special key \'" << event.getKeySym() << "\' was"; if (event.keyDown()) ;//cout << " pressed" << endl; else { if(key ) { proc_key(key); //cout << " released" << endl; } } }
void Visualizer::keyboardEventCloudViewer(const pcl::visualization::KeyboardEvent &event, void *) { if(event.keyUp()) { if(event.getKeySym() == "Left") { nextAnnotator(); } else if(event.getKeySym() == "Right") { prevAnnotator(); } else if(event.getKeySym() == "Escape") { shutdown(); } else if(event.getKeySym() == "Insert") { save = true; } else if(event.getKeyCode() > 0) { callbackKeyHandler(event.getKeyCode(), DrawingAnnotator::CLOUD_VIEWER); } } }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void* cookie) { AGASTDemo* obj = static_cast<AGASTDemo*> (cookie); if (event.getKeyCode ()) { std::stringstream ss; ss << event.getKeyCode (); obj->detector_type_ = atoi (ss.str ().c_str ()); return; } if (event.getKeySym () == "Up") { if (obj->threshold_ <= 0.9) { PCL_INFO ("[keyboard_callback] Increase AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ + 0.01); obj->threshold_ += 0.01; return; } PCL_INFO ("[keyboard_callback] Increase AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ + 1); obj->threshold_ += 1; return; } if (event.getKeySym () == "Down") { if (obj->threshold_ <= 0) return; if (obj->threshold_ <= 1) { PCL_INFO ("[keyboard_callback] Decrease AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ - 0.01); obj->threshold_ -= 0.01; return; } PCL_INFO ("[keyboard_callback] Decrease AGAST threshold from %f to %f.\n", obj->threshold_, obj->threshold_ - 1); obj->threshold_ -= 1; return; } if (event.getKeySym () == "Right") { PCL_INFO ("[keyboard_callback] Increase AGAST BMAX from %f to %f.\n", obj->bmax_, obj->bmax_ + 1); obj->bmax_ += 1; return; } if (event.getKeySym () == "Left") { if (obj->bmax_ <= 0) return; PCL_INFO ("[keyboard_callback] Decrease AGAST BMAX from %f to %f.\n", obj->bmax_, obj->bmax_ - 1); obj->bmax_ -= 1; return; } }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { if (event.getKeyCode ()) cout << "the key \'" << event.getKeyCode () << "\' (" << event.getKeyCode () << ") was"; else cout << "the special key \'" << event.getKeySym () << "\' was"; if (event.keyDown ()) cout << " pressed" << endl; else cout << " released" << endl; }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void* cookie) { string* message = static_cast<string*> (cookie); cout << (*message) << " :: "; if (event.getKeyCode ()) cout << "the key \'" << event.getKeyCode () << "\' (" << event.getKeyCode () << ") was"; else cout << "the special key \'" << event.getKeySym () << "\' was"; if (event.keyDown ()) cout << " pressed" << endl; else cout << " released" << endl; }
void Inspector::keyboardCallback(const pcl::visualization::KeyboardEvent& event, void* cookie) { if(event.keyDown()) { if(event.getKeyCode() == 'm') { toggleModel(); } else if(event.getKeyCode() == 'c') { pcd_vis_.removeAllShapes(); } else if(event.getKeyCode() == 27) { quitting_ = true; } } }
/** \brief callback function for the PCLvisualizer */ void keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie) { if (event.keyDown()) { switch (event.getKeyCode()) { case 27: case (int)'q': case (int)'Q': case (int)'e': case (int)'E': cout << "Exiting program" << endl; quit = true; break; case (int)'s': case (int)'S': cout << "Saving volume and cloud" << endl; save = true; break; default: break; } } }
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 keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { /// If SPACE is pressed, trigger new cloud callback (only works if framerate is set to 0) if (event.getKeyCode() == ' ' && grabber) grabber->trigger (); }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { // do stuff and visualize here if (event.keyUp ()) { switch (event.getKeyCode ()) { case 'b': case 'B': if (threshold_ < 0.1f) threshold_ += 0.001f; process (); break; case 'v': case 'V': if (threshold_ > 0.001f) threshold_ -= 0.001f; process (); break; case 'n': case 'N': depth_dependent_ = !depth_dependent_; process (); break; case 'm': case 'M': polygon_refinement_ = !polygon_refinement_; process (); break; } } }
void keyboardCallback(const pcl::visualization::KeyboardEvent &event, void *) { std::string special_key = event.getKeyCode() ? "" : "special "; if (event.keyDown()) Logger::log(Logger::INFO, "The %skey %c was pressed.", special_key.c_str(), event.getKeyCode()); else Logger::log(Logger::INFO, "The %skey %c was released.", special_key.c_str(), event.getKeyCode()); }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { static pcl::PCDWriter writer; static std::ostringstream frame; if (event.keyUp ()) { if ((event.getKeyCode () == 's') || (event.getKeyCode () == 'S')) { boost::mutex::scoped_lock lock (cloud_mutex_); frame.str ("frame-"); frame << boost::posix_time::to_iso_string (boost::posix_time::microsec_clock::local_time ()) << ".pcd"; writer.writeBinaryCompressed (frame.str (), *cloud_); PCL_INFO ("Written cloud %s.\n", frame.str ().c_str ()); } } }
void keyboardCB (const pcl::visualization::KeyboardEvent &event, void* params_void) { CallbackParameters* params = static_cast<CallbackParameters*> (params_void); if (event.getKeyCode () == 13 /*enter*/ && event.keyUp ()) update (params); else if ( event.getKeyCode () == '1' && event.keyUp () ) { // Switch models visibility params->show_models_ = !params->show_models_; for ( list<vtkActor*>::iterator it = params->model_actors_.begin () ; it != params->model_actors_.end () ; ++it ) (*it)->SetVisibility (static_cast<int> (params->show_models_)); params->viz_.getRenderWindow ()->Render (); } }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { if (event.keyUp ()) { switch (event.getKeyCode ()) { case 27: case 'Q': case 'q': quit_ = true; visualizer_->close (); break; case ' ': continuous_ = !continuous_; break; } } }
void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event, void* stop_void) { bool *stop; char *keyPressed = new char[50]; // Copy the pressed key inside a var sprintf (keyPressed, "%c", event.getKeyCode ()); stop = static_cast<bool *> (stop_void); // Check if 0 is pressed and return the value if (strpbrk ("0", keyPressed)) { *stop = 1; //std::cout << "found " << *stop << std::endl; } }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void *) { if (event.keyUp ()) { switch (event.getKeyCode()) { case 's': case 'S': saveCloud = true; // save pcd file break; case 't': case 'T': ++toggleView %= 2; break; } } }
/** \brief Callback for setting options in the visualizer via keyboard. * \param[in] event Registered keyboard event */ void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { int key = event.getKeyCode (); if (event.keyUp ()) switch (key) { case (int)'1': show_voxel_centroids = !show_voxel_centroids; break; case (int)'2': show_supervoxels = !show_supervoxels; break; case (int)'3': show_graph = !show_graph; break; case (int)'4': show_normals = !show_normals; break; case (int)'5': show_supervoxel_normals = !show_supervoxel_normals; break; case (int)'0': show_refined = !show_refined; break; case (int)'h': case (int)'H': show_help = !show_help; break; default: break; } }
static void keyboardCallback(const pcl::visualization::KeyboardEvent &e, void *cookie) { OpenNIShoter* recorder = reinterpret_cast<OpenNIShoter*> (cookie); int key = e.getKeyCode (); if (e.keyUp()) { if ((key == 'q') || (key == 'Q')) { recorder->exit_ = true; } else if ((key == 's') || (key == 'S')) { recorder->get_image_ = true; } } }
void DataCapture::keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie) { DataCapture* capture = reinterpret_cast<DataCapture*> (cookie); if (event.keyDown()) { switch (event.getKeyCode()) { case 27: case (int)'q': case (int)'Q': case (int)'e': case (int)'E': // stop the grabber capture->quit_ = true; pc::print_info ("Exiting program.\n"); break; case (int)'s': case (int)'S': // capture snapshot (if not currently capturing continuously) if (!capture->continuous_capture_) { capture->save_ = true; pc::print_highlight ("Recording snapshot.\n"); } break; case (int)'t': case (int)'T': // start / stop continuous capture capture->continuous_capture_ = !capture->continuous_capture_; pc::print_highlight ("%s continuous recording of data.\n", (capture->continuous_capture_) ? "Starting" : "Stopping"); break; default: break; } } }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { boost::mutex::scoped_lock lock (mtx_); switch (event.getKeyCode ()) { case '1': ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::COVARIANCE_MATRIX); std::cout << "switched to COVARIANCE_MATRIX method\n"; break; case '2': ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::AVERAGE_3D_GRADIENT); std::cout << "switched to AVERAGE_3D_GRADIENT method\n"; break; case '3': ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::AVERAGE_DEPTH_CHANGE); std::cout << "switched to AVERAGE_DEPTH_CHANGE method\n"; break; case '4': ne_.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointType, pcl::Normal>::SIMPLE_3D_GRADIENT); std::cout << "switched to SIMPLE_3D_GRADIENT method\n"; break; } }
void ICCVTutorial<FeatureType>::keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { if (event.keyUp()) { switch (event.getKeyCode()) { case '1': if (!visualizer_.removePointCloud("source_points")) { visualizer_.addPointCloud(source_, "source_points"); } break; case '2': if (!visualizer_.removePointCloud("target_points")) { visualizer_.addPointCloud(target_, "target_points"); } break; case '3': if (!visualizer_.removePointCloud("source_segmented")) { visualizer_.addPointCloud(source_segmented_, "source_segmented"); } break; case '4': if (!visualizer_.removePointCloud("target_segmented")) { visualizer_.addPointCloud(target_segmented_, "target_segmented"); } break; case '5': if (!visualizer_.removePointCloud("source_keypoints")) { pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI> keypoint_color (source_keypoints_, 0, 0, 255); //pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> keypoint_color (source_keypoints_, "intensity"); visualizer_.addPointCloud(source_keypoints_, keypoint_color, "source_keypoints"); } break; case '6': if (!visualizer_.removePointCloud("target_keypoints")) { //pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI> keypoint_color (target_keypoints_, "intensity"); pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI> keypoint_color (target_keypoints_, 255, 0, 0); visualizer_.addPointCloud(target_keypoints_, keypoint_color, "target_keypoints"); } break; case '7': if (!show_source2target_) visualizer_.addCorrespondences<pcl::PointXYZI>(source_keypoints_, target_keypoints_, source2target_, "source2target"); else visualizer_.removeCorrespondences("source2target"); show_source2target_ = !show_source2target_; break; case '8': if (!show_target2source_) visualizer_.addCorrespondences<pcl::PointXYZI>(target_keypoints_, source_keypoints_, target2source_, "target2source"); else visualizer_.removeCorrespondences("target2source"); show_target2source_ = !show_target2source_; break; case '9': if (!show_correspondences) visualizer_.addCorrespondences<pcl::PointXYZI>(source_keypoints_, target_keypoints_, *correspondences_, "correspondences"); else visualizer_.removeCorrespondences("correspondences"); show_correspondences = !show_correspondences; break; case 'i': case 'I': if (!visualizer_.removePointCloud("transformed")) visualizer_.addPointCloud(source_transformed_, "transformed"); break; case 'r': case 'R': if (!visualizer_.removePointCloud("registered")) visualizer_.addPointCloud(source_registered_, "registered"); break; case 't': case 'T': visualizer_.addPolygonMesh(surface_, "surface"); break; } } }
void keyboardCallback (const pcl::visualization::KeyboardEvent& event, void*) { if (event.keyDown ()) { if (event.getKeyCode () == 'w' || event.getKeyCode () == 'W') { window_ += event.getKeyCode () == 'w' ? 1 : -1; if (window_ < 1) window_ = 1; pcl::console::print_info ("Temporal filtering window size: "); pcl::console::print_value ("%i\n", window_); grabber_.enableTemporalFiltering (temporal_filtering_, window_); } if (event.getKeyCode () == 't' || event.getKeyCode () == 'T') { threshold_ += event.getKeyCode () == 't' ? 1 : -1; if (threshold_ < 0) threshold_ = 0; if (threshold_ > 15) threshold_ = 15; pcl::console::print_info ("Confidence threshold: "); pcl::console::print_value ("%i\n", threshold_); grabber_.setConfidenceThreshold (threshold_); } if (event.getKeyCode () == 'k') { pcl::console::print_info ("Temporal filtering: "); switch (temporal_filtering_) { case pcl::RealSenseGrabber::RealSense_None: //{ //temporal_filtering_ = pcl::RealSenseGrabber::RealSense_Median; //pcl::console::print_value ("median\n"); //break; //} //case pcl::RealSenseGrabber::RealSense_Median: { temporal_filtering_ = pcl::RealSenseGrabber::RealSense_Average; pcl::console::print_value ("average\n"); break; } case pcl::RealSenseGrabber::RealSense_Average: { temporal_filtering_ = pcl::RealSenseGrabber::RealSense_None; pcl::console::print_value ("none\n"); break; } } grabber_.enableTemporalFiltering (temporal_filtering_, window_); } if (event.getKeyCode () == 'b') { with_bilateral_ = !with_bilateral_; pcl::console::print_info ("Bilateral filtering: "); pcl::console::print_value (with_bilateral_ ? "ON\n" : "OFF\n"); } if (event.getKeyCode () == 'a' || event.getKeyCode () == 'A') { float s = bilateral_.getSigmaS (); s += event.getKeyCode () == 'a' ? 1 : -1; if (s <= 1) s = 1; pcl::console::print_info ("Bilateral filter spatial sigma: "); pcl::console::print_value ("%.0f\n", s); bilateral_.setSigmaS (s); } if (event.getKeyCode () == 'z' || event.getKeyCode () == 'Z') { float r = bilateral_.getSigmaR (); r += event.getKeyCode () == 'z' ? 0.01 : -0.01; if (r <= 0.01) r = 0.01; pcl::console::print_info ("Bilateral filter range sigma: "); pcl::console::print_value ("%.2f\n", r); bilateral_.setSigmaR (r); } if (event.getKeyCode () == 's') { boost::format fmt ("RS_%s_%u.pcd"); std::string fn = boost::str (fmt % grabber_.getDeviceSerialNumber ().c_str () % last_cloud_->header.stamp); pcl::io::savePCDFileBinaryCompressed (fn, *last_cloud_); pcl::console::print_info ("Saved point cloud: "); pcl::console::print_value (fn.c_str ()); pcl::console::print_info ("\n"); } displaySettings (); } }
void keyboardCB (const pcl::visualization::KeyboardEvent &event, void* params_void) { if (event.getKeyCode () == 13 /*enter*/ && event.keyUp ()) update (static_cast<CallbackParameters*> (params_void)); }
void keyboardCallback (const pcl::visualization::KeyboardEvent& event, void*) { if (event.keyDown ()) { if (event.getKeyCode () == 'w' || event.getKeyCode () == 'W') { window_ += event.getKeyCode () == 'w' ? 1 : -1; if (window_ < 1) window_ = 1; pcl::console::print_info ("Temporal filtering window size: "); pcl::console::print_value ("%i\n", window_); grabber_.enableTemporalFiltering (temporal_filtering_, window_); } if (event.getKeyCode () == 't' || event.getKeyCode () == 'T') { threshold_ += event.getKeyCode () == 't' ? 10 : -10; if (threshold_ < 0) threshold_ = 0; pcl::console::print_info ("Confidence threshold: "); pcl::console::print_value ("%i\n", threshold_); grabber_.setConfidenceThreshold (threshold_); } if (event.getKeyCode () == 'k') { pcl::console::print_info ("Temporal filtering: "); switch (temporal_filtering_) { case pcl::DepthSenseGrabber::DepthSense_None: { temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_Median; pcl::console::print_value ("median\n"); break; } case pcl::DepthSenseGrabber::DepthSense_Median: { temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_Average; pcl::console::print_value ("average\n"); break; } case pcl::DepthSenseGrabber::DepthSense_Average: { temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_None; pcl::console::print_value ("none\n"); break; } } grabber_.enableTemporalFiltering (temporal_filtering_, window_); } if (event.getKeyCode () == 's') { boost::format fmt ("DS_%s_%u.pcd"); std::string fn = boost::str (fmt % grabber_.getDeviceSerialNumber ().c_str () % last_cloud_->header.stamp); pcl::io::savePCDFileBinaryCompressed (fn, *last_cloud_); pcl::console::print_info ("Saved point cloud: "); pcl::console::print_value (fn.c_str ()); pcl::console::print_info ("\n"); } displaySettings (); } }
void keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*) { if (event.getKeyCode () == '1') show_original = !show_original; if (event.getKeyCode () == '2') show_supervoxels = !show_supervoxels; if (event.getKeyCode () == '3') show_models = !show_models; if (event.getKeyCode () == '4') show_tracks = !show_tracks; if (event.getKeyCode () == '5') show_result = !show_result; if (event.getKeyCode () == '6') show_coloredsv = !show_coloredsv; if (event.getKeyCode () == '7') show_orientation = !show_orientation; if (event.getKeyCode () == '9') show_particles = !show_particles; if (event.getKeyCode () == '0') pause_playback = !pause_playback; if (event.getKeyCode () == '`') resetCamera = true; if (event.getKeyCode () == '8') controlCamera = !controlCamera; }