template <typename PointT> bool
pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram (
const pcl::PointCloud<PointT> &cloud, int hsize,
const std::string &id, int win_width, int win_height)
{
RenWinInteractMap::iterator am_it = wins_.find (id);
if (am_it != wins_.end ())
{
PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}
vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
xy_array->SetNumberOfComponents (2);
xy_array->SetNumberOfTuples (hsize);
// Parse the cloud data and store it in the array
double xy[2];
for (int d = 0; d < hsize; ++d)
{
xy[0] = d;
xy[1] = cloud.points[0].histogram[d];
xy_array->SetTuple (d, xy);
}
RenWinInteract renwinint;
createActor (xy_array, renwinint, id, win_width, win_height);
// Save the pointer/ID pair to the global window map
wins_[id] = renwinint;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
resetStoppedFlag ();
#endif
return (true);
}
/** \brief Spin once method. Calls the interactor and updates the screen once. */
void
pcl::visualization::PCLHistogramVisualizer::spinOnce (int time, bool force_redraw)
{
resetStoppedFlag ();
if (time <= 0)
time = 1;
if (force_redraw)
{
for (RenWinInteractMap::iterator am_it = wins_.begin (); am_it != wins_.end (); ++am_it)
{
(*am_it).second.interactor_->Render ();
exit_main_loop_timer_callback_->right_timer_id = (*am_it).second.interactor_->CreateRepeatingTimer (time);
exit_main_loop_timer_callback_->interact = (*am_it).second.interactor_;
(*am_it).second.interactor_->Start ();
(*am_it).second.interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
}
return;
}
for (RenWinInteractMap::iterator am_it = wins_.begin (); am_it != wins_.end (); ++am_it)
{
DO_EVERY(1.0/(*am_it).second.interactor_->GetDesiredUpdateRate (),
(*am_it).second.interactor_->Render ();
exit_main_loop_timer_callback_->right_timer_id = (*am_it).second.interactor_->CreateRepeatingTimer (time);
exit_main_loop_timer_callback_->interact = (*am_it).second.interactor_;
(*am_it).second.interactor_->Start ();
(*am_it).second.interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
);
}
pcl::visualization::PCLHistogramVisualizer::PCLHistogramVisualizer () :
exit_main_loop_timer_callback_ (vtkSmartPointer<ExitMainLoopTimerCallback>::New ()),
exit_callback_ (vtkSmartPointer<ExitCallback>::New ())
{
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
resetStoppedFlag ();
#endif
}
template <typename PointT> bool
pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram (
const pcl::PointCloud<PointT> &cloud,
const std::string &field_name,
const int index,
const std::string &id, int win_width, int win_height)
{
if (index < 0 || index >= cloud.points.size ())
{
PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
return (false);
}
// Get the fields present in this cloud
std::vector<sensor_msgs::PointField> fields;
// Check if our field exists
int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
if (field_idx == -1)
{
PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
return (false);
}
RenWinInteractMap::iterator am_it = wins_.find (id);
if (am_it != wins_.end ())
{
PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}
vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
xy_array->SetNumberOfComponents (2);
xy_array->SetNumberOfTuples (fields[field_idx].count);
// Parse the cloud data and store it in the array
double xy[2];
for (int d = 0; d < fields[field_idx].count; ++d)
{
xy[0] = d;
//xy[1] = cloud.points[index].histogram[d];
float data;
memcpy (&data, (const char*)&cloud.points[index] + fields[field_idx].offset + d * sizeof (float), sizeof (float));
xy[1] = data;
xy_array->SetTuple (d, xy);
}
RenWinInteract renwinint;
createActor (xy_array, renwinint, id, win_width, win_height);
// Save the pointer/ID pair to the global window map
wins_[id] = renwinint;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
resetStoppedFlag ();
#endif
return (true);
}
