C++ (Cpp) PCLVisualizer::initCameraParameters 예제들

예제 #1

파일: rawlog-pcl-viewer.cpp 프로젝트: MRPT/mrpt

void  viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (0.3, 0.3, 0.3);
    viewer.addCoordinateSystem(1.0, 0);
    viewer.initCameraParameters();
    viewer.camera_.pos[2] = 30;
	viewer.updateCamera();
}

예제 #2

파일: structure_point_cloud_viewer.cpp 프로젝트: MichaelBarz/structure_grabber

void initViewer(pcl::visualization::PCLVisualizer &viewer) {
	viewer.setBackgroundColor(0, 0, 0);
	viewer.addCoordinateSystem(1.0, "reference");
	viewer.initCameraParameters();
	viewer.setRepresentationToPointsForAllActors();
	viewer.setCameraPosition(0, 0, -1, 0, 0, 0, 0, -1, 0);
	viewer.registerKeyboardCallback(keyboardCallback);
}

예제 #3

파일: project.cpp 프로젝트: Xiaoliang1992/moving-objects

int main(int argc, char* argv[]) {

    if(argc < 3) {
        PCL_ERROR("run as ./project /path/to/cloud1/ /path/to/cloud2/ [pcd format]");
        return -1;
    }

    string fCloud1 = "";
    string fCloud2 = "";
    string models = "";
    string training = "";
    int NN;

    pcl::console::parse_argument(argc, argv, "-cloud1", fCloud1);
    pcl::console::parse_argument(argc, argv, "-cloud2", fCloud2);
    pcl::console::parse_argument(argc, argv, "-models", models);
    pcl::console::parse_argument(argc, argv, "-training", training);
    pcl::console::parse_argument(argc, argv, "-nn", NN);

    moi.setVerbose(true);


    classificator.setModelsDir(models);
    classificator.setTrainingDir(training);
    classificator.setNN(NN);
    classificator.setup();

    viewer.registerKeyboardCallback(&keyboard_cb, NULL);
    viewer.setBackgroundColor(0, 0, 0);

    viewer.initCameraParameters();

    if(fCloud1 != "" && fCloud2 != "") {
        if(pcl::io::loadPCDFile<pcl::PointXYZ>(fCloud1, *cloud1) == -1) {
            PCL_ERROR("Cloud1 reading failed\n");
            return(-1);
        }

        if(pcl::io::loadPCDFile<pcl::PointXYZ>(fCloud2, *cloud2) == -1) {
            PCL_ERROR("Cloud2 reading failed\n");
            return(-1);
        }

        findObjectsAndClassify();
    } else {
        keyboardCbLock = false;
        printInstructions();
    }

    while(!viewer.wasStopped()) {
        viewer.spinOnce(100);
        boost::this_thread::sleep (boost::posix_time::milliseconds(100));
    }

    return 0;
}

예제 #4

파일: pcd_organized_multi_plane_segmentation.cpp 프로젝트: 2php/pcl

 PCDOrganizedMultiPlaneSegmentation (typename pcl::PointCloud<PointT>::ConstPtr cloud_, bool refine)
 : viewer ("Viewer")
 , cloud (cloud_)
 , refine_ (refine)
 , threshold_ (0.02f)
 , depth_dependent_ (true)
 , polygon_refinement_ (false)
 {
   viewer.setBackgroundColor (0, 0, 0);
   //viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
   //viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
   viewer.addCoordinateSystem (1.0, "global");
   viewer.initCameraParameters ();
   viewer.registerKeyboardCallback(&PCDOrganizedMultiPlaneSegmentation::keyboard_callback, *this, 0);
 }

예제 #5

파일: object_classification_v2.cpp 프로젝트: kasertim/urban-environment-point-cloud

void
initVisualizer (pcl::visualization::PCLVisualizer &viewer)
{
  // Setting the initial viewer parameters
  viewer.initCameraParameters ();
  viewer.setBackgroundColor (0, 0, 0);
  viewer.addCoordinateSystem (1000);
  viewer.camera_.view[0] = 0;
  viewer.camera_.view[1] = 0;
  viewer.camera_.view[2] = 1;
  viewer.camera_.pos[0] = 8000;
  viewer.camera_.pos[1] = 20000;
  viewer.camera_.pos[2] = 2500;
  viewer.updateCamera ();
  viewer.addText ("Shift + click to select noisy objects. \nPress 0 to confirm the removal.", 50, 300, "user");
}