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*) { // 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) { if(event.getKeySym() == "v" && event.keyUp()) { std::cout << "Saving..."; pcl::io::savePCDFile("capture.pcd", *cloud); std::cout << "done" << std::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 Gui::keyboardEventOccurred(const pcl::visualization::KeyboardEvent &_event, void* _viewer_void){ boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (_viewer_void); std::cout << _event.getKeySym() << " was pressed"; if ((_event.getKeySym() == "1") && _event.keyUp()) { std::cout << " => guess visualization toggled" << std::endl; mShowGuess = !mShowGuess; } if ((_event.getKeySym() == "2") && _event.keyUp()) { std::cout << " => icp result visualization toggled" << std::endl; mShowIcpResult = !mShowIcpResult; } if ((_event.getKeySym() == "3") && _event.keyUp()) { std::cout << " => candidate visualization toggled" << std::endl; mShowCandidates = !mShowCandidates; } else { std::cout << std::endl; } }
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 keyboardCB (const pcl::visualization::KeyboardEvent &event, void* params_void) { CallbackParameters* params = static_cast<CallbackParameters*> (params_void); if (event.getKeySym () == "Left" && event.keyUp ()) { if (params->leaf_ == params->octree_.getFullLeaves ().begin ()) params->leaf_ = params->octree_.getFullLeaves ().end (); updateViewer(params->octree_, params->viz_, --params->leaf_); } else if (event.getKeySym () == "Right" && event.keyUp ()) { ++params->leaf_; if (params->leaf_ == params->octree_.getFullLeaves ().end ()) params->leaf_ = params->octree_.getFullLeaves ().begin (); updateViewer (params->octree_, params->viz_, params->leaf_); } }
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 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 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; } } }
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; } } }
/** \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; } }
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 keyboardCB (const pcl::visualization::KeyboardEvent &event, void* params_void) { if (event.getKeyCode () == 13 /*enter*/ && event.keyUp ()) update (static_cast<CallbackParameters*> (params_void)); }