/**
* @function main
* @brief Main function what else?
*/
int main( int argc, char* argv[] ) {
int c;
while( (c=getopt(argc, argv,"h")) != -1 ) {
switch(c) {
case 'h': { printUsage(argv[0]); } break;
}
}
// Create OpenNI grabber, register key events
gKinectGrabber = new pcl::OpenNIGrabber();
if( gKinectGrabber == 0 ) { return 1; }
boost::function< void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = boost::bind( &grabberCallback, _1 );
gKinectGrabber->registerCallback(f);
// Create viewer and initialize
gViewer = createViewer();
gKinectGrabber->start();
// Loop expecting capture signal (press ESC)
while( !gViewer->wasStopped() ) {
boost::this_thread::sleep( boost::posix_time::seconds(1) );
}
// If capturing Kinect data, stop the stream before exiting
gKinectGrabber->stop();
} // end main
// ------------------------------------------------------------------------
void DicomParser::setUpDisplay()
{
parseDicom();
loadImages();
QWidget * w1 = new QWidget(this);
QHBoxLayout * l1 = new QHBoxLayout;
l1->addWidget(createTable());
l1->addWidget(createViewer());
w1->setLayout(l1);
okButton = new QPushButton("OK", this);
connect(okButton, SIGNAL(clicked()), this, SLOT(okPressed()));
cancelButton = new QPushButton("Cancel", this);
connect(cancelButton, SIGNAL(clicked()), this, SLOT(cancelPressed()));
QHBoxLayout * l2 = new QHBoxLayout;
l2->addWidget(cancelButton);
l2->addWidget(okButton);
QWidget * w2 = new QWidget(this);
w2->setLayout(l2);
QVBoxLayout * l3 = new QVBoxLayout;
l3->addWidget(w1);
l3->addWidget(w2);
this->setLayout(l3);
}
/**
* @function main
* @brief Main function what else?
*/
int main( int argc, char* argv[] ) {
std::string filename;
if( argc != 3 ) {
printf( "Enter text file with PCD names on it and number to show \n" );
return 0;
}
filename = argv[1];
// Read
if( !readPCDData( argv[1], gPointclouds ) ) {
printf( " [X] Error reading PCD text file exiting \n" );
}
gNumPointclouds = gPointclouds.size();
gCurrentShown = atoi( argv[2] ) % gNumPointclouds;
// Create viewer
gViewer = createViewer();
// Visualize
printf("Showing pointcloud %d out of %d \n", gCurrentShown, gNumPointclouds );
gViewer->showCloud( gPointclouds[gCurrentShown] );
while( !gViewer->wasStopped() ) {
boost::this_thread::sleep( boost::posix_time::seconds(1) );
}
}
void MainWindow::goToVerse(QString verse)
{
Key key = Key::fromString(verse);
QString translation = mTextSource->getSourceName();
replaceViewer(createViewer(translation, key.mBook,
key.mChapter, key.mVerse));
}
void MainWindow::selectTranslation()
{
QString translation;
if (::selectTranslation(this, translation))
{
QString bookName = mTextSource->getSuperSectionName();
int chapter = mpViewer->getCurrentSection();
int verse = mpViewer->getCurrentParagraph();
mSearchResults->hideResults();
replaceViewer(createViewer(translation, bookName, chapter, verse));
}
}
ObjectViewer::ObjectViewer(QWidget* parent, Qt::WindowFlags f)
: ViewerInterface(parent, f) {
mainLayout = new QHBoxLayout(this);
auto leftLayout = new QVBoxLayout;
objectList = new QTableView;
objectMenu = new QMenu(objectList);
objectList->setContextMenuPolicy(Qt::CustomContextMenu);
auto viewModelAction = new QAction("View Model", objectMenu);
objectMenu->addAction(viewModelAction);
connect(viewModelAction, SIGNAL(triggered()), this, SLOT(menuViewModel()));
connect(objectList, SIGNAL(customContextMenuRequested(QPoint)), this,
SLOT(onCustomContextMenu(QPoint)));
filterModel = new ObjectSearchModel(this);
objectList->setModel(filterModel);
objectList->setColumnWidth(0, 50);
objectList->setColumnWidth(1, 150);
objectList->setColumnWidth(2, 200);
objectList->setSortingEnabled(true);
objectList->setSelectionBehavior(QAbstractItemView::SelectionBehavior::SelectRows);
connect(objectList->selectionModel(),
SIGNAL(currentChanged(QModelIndex, QModelIndex)), this,
SLOT(showItem(QModelIndex)));
leftLayout->addLayout(searchControls(filterModel));
leftLayout->addWidget(objectList);
mainLayout->addLayout(leftLayout, 6);
previewWidget = createViewer();
previewWidget->setMode(ViewerWidget::Mode::Object);
infoLayout = new QGridLayout;
previewID = new QLabel;
previewModel = new QLabel;
previewClass = new QLabel;
infoLayout->addWidget(new QLabel("ID"), 1, 0);
infoLayout->addWidget(previewID, 1, 1);
infoLayout->addWidget(new QLabel("Type"), 2, 0);
infoLayout->addWidget(previewClass, 2, 1);
infoLayout->addWidget(new QLabel("Model"), 3, 0);
infoLayout->addWidget(previewModel, 3, 1);
infoLayout->addWidget(QWidget::createWindowContainer(previewWidget), 0, 0, 1, 2);
infoLayout->setRowStretch(0, 1);
mainLayout->addLayout(infoLayout, 4);
setLayout(mainLayout);
}
MainWindow::MainWindow() : QMainWindow(NULL)
{
mShowShortTitle = false;
setAttribute(Qt::WA_Maemo5StackedWindow);
createMenu();
QSettings settings;
QString translation = settings.value("initial/translation",
"KJV").toString();
QString book = settings.value("initial/book", "Genesis").toString();
int chapter = settings.value("initial/chapter", 0).toInt();
int verse = settings.value("initial/verse", 0).toInt();
mpViewer = createViewer(translation, book, chapter, verse);
QFrame* frame = new QFrame;
mLayout = new QHBoxLayout;
mLayout->addWidget(mpViewer);
mSearchResults = new SearchResultsFrame();
mLayout->addWidget(mSearchResults);
mLayout->setContentsMargins(0, 0, 0, 0);
mLayout->setSpacing(0);
frame->setLayout(mLayout);
setCentralWidget(frame);
connect(mSearchResults, SIGNAL(resultSelected(const QString&)), this,
SLOT(goToVerse(const QString&)));
QDBusConnection::systemBus().connect(QString(),
MCE_SIGNAL_PATH,
MCE_SIGNAL_IF,
MCE_DEVICE_ORIENTATION_SIG,
this,
SLOT(orientationChanged(QString)));
// Tell maemo-status-volume to grab/ungrab increase/decrease keys
unsigned long val = 1;
Atom atom = XInternAtom( QX11Info::display(), "_HILDON_ZOOM_KEY_ATOM", 0);
XChangeProperty(QX11Info::display(),
winId(),
atom,
XA_INTEGER,
32,
PropModeReplace,
(unsigned char *)&val,
1);
setWindowTitle("Katana");
}
void MainWindow::onSettings()
{
SettingsDialog dlg(this);
if (dlg.exec() == QDialog::Accepted)
{
QString newTranslation;
if (!dlg.getNewTranslation(newTranslation))
newTranslation = mTextSource->getSourceName();
QString bookName = mTextSource->getSuperSectionName();
int chapter = mpViewer->getCurrentSection();
int verse = mpViewer->getCurrentParagraph();
mSearchResults->hideResults();
// We deliberately reload the bible info here, because the translation
// might have been deleted out from under us, in which case
// getBibleInfo will simply return the last available Bible.
replaceViewer(createViewer(newTranslation, bookName, chapter, verse));
}
}
QoccViewerContext::QoccViewerContext()
{
// Create the OCC Viewers
TCollection_ExtendedString a3DName("Visual3D");
myViewer = createViewer( "DISPLAY", a3DName.ToExtString(), "", 1000.0 );
myViewer->Init();
myViewer->SetZBufferManagment(Standard_False);
myViewer->SetDefaultViewProj( V3d_Zpos ); // Top view
myContext = new AIS_InteractiveContext( myViewer );
myGridType = Aspect_GT_Rectangular;
myGridMode = Aspect_GDM_Lines;
myGridColor = Quantity_NOC_RED4;
myGridTenthColor = Quantity_NOC_GRAY90;
myContext->SetHilightColor(Quantity_NOC_WHITE) ;
setGridOffset (0.0);
gridXY();
//gridToggle();
}
void MainWindow::selectVerse(QString startingFilter)
{
SelectResult result;
if (::selectVerse(this, mTextSource, startingFilter, result))
{
switch (result.getType())
{
case SelectResult::Type_SearchText:
search(result.search_GetText(), "");
break;
case SelectResult::Type_SearchDialog:
startSearch(result.search_GetText());
break;
case SelectResult::Type_SelectedVerse:
{
QString translation = mTextSource->getSourceName();
mSearchResults->hideResults();
replaceViewer(createViewer(translation, result.verse_GetBook(),
result.verse_GetChapter(), 0));
}
break;
}
}
}
/**
* @function main
*/
int main( int argc, char* argv[] ) {
double sx; double sy; double sz;
double ox; double oy; double oz;
double resolution;
sx = 1.0; sy = 1.0; sz = 1.0;
ox = 0.0; oy = 0.0; oz = 0.0;
resolution = 0.0125;
// Distance Field
printf("Create PF Distance Field \n");
PFDistanceField pf( sx, sy, sz, resolution, ox, oy, oz );
pf.reset();
// Geometry
double bx; double by; double bz;
bx = 0.2; by = 0.25; bz = 0.2;
pf.addBox( 0.6, 0.5, 0.1, bx, by, bz );
pf.addBox( 0.6, 0.5, 0.1, bx + 0.0, by + 0.0, bz + 0.5 );
// Settings parameters
int cost = 10; int radius = 3; int numPaths = 6;
DiversePaths dp( &pf, radius, cost );
// Set goal and start
std::vector<double> goal(3);
goal[0] = 0.5; goal[1] = 0.9; goal[2] = 0.7;
std::vector<double> start(3);
start[0] = 0.3; start[1] = 0.1; start[2] = 0.5;
// Paths
std::vector<std::vector<double> > midPoints;
std::vector<std::vector<std::vector<double> > > paths;
// Get paths
float boundFactor = 2.0;
int numCheckPoints = 10;
time_t ts = clock();
paths = dp.getDiversePaths2( start, goal, numPaths, midPoints, boundFactor, numCheckPoints );
time_t tf = clock();
double dt = (double) ( tf - ts ) / CLOCKS_PER_SEC;
printf( "** getDiversePaths2 time: %f \n", dt );
printf( "Num points: %d \n", midPoints.size() );
// Create viewer
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = createViewer();
// View the path
reset_PCL_Tools_counters();
// MidPoints: View pointcloud (NOT BOTH Balls and pointcloud)
viewPoints( midPoints, viewer, 255,0,255 );
// Get checkPoint Lines
std::vector<std::vector<std::vector<double> > > checkLines;
if( paths.size() >= 2 ) {
checkLines = dp.getCheckPointLines( paths[0], paths[2], numCheckPoints );
} else {
printf( " !! Only one path, no drawing checkPoint lines! \n" );
}
for( int i = 0; i < checkLines.size(); ++i ) {
viewPath( checkLines[i], viewer, 0, 0, 255 );
}
dp.visualizePaths( viewer, paths, true );
// Loop
while( !viewer->wasStopped() ) {
viewer->spinOnce(100);
boost::this_thread::sleep( boost::posix_time::microseconds(100000));
}
printf("End of program \n");
return(0);
}
/**
* @function main
* @brief Main function what else?
*/
int main( int argc, char* argv[] ) {
// If user requires help
if( pcl::console::find_argument( argc, argv, "-h" ) >= 0 ) {
printUsage();
return 0;
}
// If user wants to visualize a PCD
bool justVisualize = false;
std::string filename;
if( pcl::console::find_argument( argc, argv, "-v" ) >= 0 ) {
if( argc != 3 ) {
printUsage( );
return 0;
}
filename = argv[2];
justVisualize = true;
}
// Otherwise, user is crazy
else if( argc != 1 ) {
printUsage();
return 0;
}
// If user indicated visualization of a video file
if( justVisualize ) {
try {
pcl::io::loadPCDFile<pcl::PointXYZRGBA>( filename.c_str(), *gCloudPtr );
}
catch( pcl::PCLException e1 ) {
try {
pcl::io::loadPCDFile<pcl::PointXYZ>( filename.c_str(), *gFallbackCloudPtr );
}
catch( pcl::PCLException e2 ) {
return -1;
}
gNoColour = true;
}
std::cout << "Loaded " << filename << "." << std::endl;
if( gNoColour ) {
std::cout << "This file has no RGBA colour information present" << std::endl;
}
} // end if
// If user wants to use Kinect data
else {
gKinectGrabber = new pcl::OpenNIGrabber();
if( gKinectGrabber == 0 ) {
return false;
}
boost::function< void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = boost::bind( &grabberCallback, _1 );
gKinectGrabber->registerCallback(f);
}
// Create viewer
gViewer = createViewer();
// Visualize either file data
if( justVisualize ) {
if( gNoColour ) {
gViewer->showCloud( gFallbackCloudPtr );
} else {
gViewer->showCloud( gCloudPtr );
}
}
// Or visualize Kinect data
else {
gKinectGrabber->start();
}
while( !gViewer->wasStopped() ) {
boost::this_thread::sleep( boost::posix_time::seconds(1) );
}
// If capturing Kinect data, stop the stream before exiting
if( !justVisualize ) {
gKinectGrabber->stop();
}
}
