C++ PCLVisualizer::wasStopped方法代码示例

void
run (float pair_width, float voxel_size, float max_coplanarity_angle, int num_hypotheses_to_show)
{
  PointCloud<PointXYZ>::Ptr scene_points (new PointCloud<PointXYZ> ()), model_points (new PointCloud<PointXYZ> ());
  PointCloud<Normal>::Ptr scene_normals (new PointCloud<Normal> ()), model_normals (new PointCloud<Normal> ());

  // Get the points and normals from the scene
  if ( !vtk_to_pointcloud ("../../test/tum_table_scene.vtk", *scene_points, *scene_normals) )
    return;

  vtkPolyData *vtk_model = vtkPolyData::New ();
  // Get the points and normals from the scene
  if ( !vtk_to_pointcloud ("../../test/tum_amicelli_box.vtk", *model_points, *model_normals, vtk_model) )
    return;

  // The recognition object
  ObjRecRANSAC objrec (pair_width, voxel_size);
  objrec.setMaxCoplanarityAngleDegrees (max_coplanarity_angle);
  objrec.addModel (*model_points, *model_normals, "amicelli", vtk_model);
  // Switch to the test mode in which only oriented point pairs from the scene are sampled
  objrec.enterTestModeTestHypotheses ();

  // The visualizer
  PCLVisualizer viz;

  CallbackParameters params(objrec, viz, *scene_points, *scene_normals, num_hypotheses_to_show);
  viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (&params));

  // Run the recognition and update the viewer
  update (&params);

#ifdef _SHOW_SCENE_POINTS_
  viz.addPointCloud (scene_points, "cloud in");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
#endif

#ifdef _SHOW_OCTREE_POINTS_
  PointCloud<PointXYZ>::Ptr octree_points (new PointCloud<PointXYZ> ());
  objrec.getSceneOctree ().getFullLeavesPoints (*octree_points);
  viz.addPointCloud (octree_points, "octree points");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "octree points");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "octree points");
#endif

#if defined _SHOW_OCTREE_NORMALS_ && defined _SHOW_OCTREE_POINTS_
  PointCloud<Normal>::Ptr octree_normals (new PointCloud<Normal> ());
  objrec.getSceneOctree ().getNormalsOfFullLeaves (*octree_normals);
  viz.addPointCloudNormals<PointXYZ,Normal> (octree_points, octree_normals, 1, 6.0f, "normals out");
#endif

  // Enter the main loop
  while (!viz.wasStopped ())
  {
    //main loop of the visualizer
    viz.spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }

  vtk_model->Delete ();
}

int main()
{
  PolygonMesh human_1_mesh;
  loadPolygonFilePLY("../data/human_1.ply", human_1_mesh);
  PCLVisualizer* viewer = new PCLVisualizer("Mesh viewer");
  viewer->addPolygonMesh(human_1_mesh);
  while (!viewer->wasStopped()) { viewer->spinOnce(100); }
  viewer->close();
  delete viewer;
}

void run (const char* file_name, float voxel_size)
{
  PointCloud<PointXYZ>::Ptr points_in (new PointCloud<PointXYZ> ());
  PointCloud<PointXYZ>::Ptr points_out (new PointCloud<PointXYZ> ());

  // Get the points and normals from the input vtk file
  if ( !vtk_to_pointcloud (file_name, *points_in) )
    return;

  // Build the octree with the desired resolution
  ORROctree octree;
  octree.build (*points_in, voxel_size);

  // Now build the octree z-projection
  ORROctreeZProjection zproj;
  zproj.build (octree, 0.15f*voxel_size, 0.15f*voxel_size);

  // The visualizer
  PCLVisualizer viz;

  show_octree(&octree, viz);
  show_octree_zproj(&zproj, viz);

#ifdef _SHOW_POINTS_
  // Get the point of every full octree leaf
  octree.getFullLeafPoints (*points_out);

  // Add the point clouds
  viz.addPointCloud (points_in, "cloud in");
  viz.addPointCloud (points_out, "cloud out");

  // Change the appearance
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud out");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud out");
#endif

  // Enter the main loop
  while (!viz.wasStopped ())
  {
    //main loop of the visualizer
    viz.spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }
}

void
visualize (const ModelLibrary::HashTable& hash_table)
{
  PCLVisualizer vis;
  vis.setBackgroundColor (0.1, 0.1, 0.1);

  const ModelLibrary::HashTableCell* cells = hash_table.getVoxels ();
  size_t max_num_entries = 0;
  int i, id3[3], num_cells = hash_table.getNumberOfVoxels ();
  float half_side, b[6], cell_center[3], spacing = hash_table.getVoxelSpacing ()[0];
  char cube_id[128];

  // Just get the maximal number of entries in the cells
  for ( i = 0 ; i < num_cells ; ++i, ++cells )
  {
    if (cells->size ()) // That's the number of models in the cell (it's maximum one, since we loaded only one model)
    {
      size_t num_entries = (*cells->begin ()).second.size(); // That's the number of entries in the current cell for the model we loaded
      // Get the max number of entries
      if ( num_entries > max_num_entries )
        max_num_entries = num_entries;
    }
  }

  // Now, that we have the max. number of entries, we can compute the
  // right scale factor for the spheres
  float s = (0.5f*spacing)/static_cast<float> (max_num_entries);

  cout << "s = " << s << ", max_num_entries = " << max_num_entries << endl;

  // Now, render a sphere with the right radius at the right place
  for ( i = 0, cells = hash_table.getVoxels () ; i < num_cells ; ++i, ++cells )
  {
    // Does the cell have any entries?
    if (cells->size ())
    {
      hash_table.compute3dId (i, id3);
      hash_table.computeVoxelCenter (id3, cell_center);

      // That's half of the cube's side length
      half_side = s*static_cast<float> ((*cells->begin ()).second.size ());

      // Adjust the bounds of the cube
      b[0] = cell_center[0] - half_side; b[1] = cell_center[0] + half_side;
      b[2] = cell_center[1] - half_side; b[3] = cell_center[1] + half_side;
      b[4] = cell_center[2] - half_side; b[5] = cell_center[2] + half_side;

      // Set the id
      sprintf (cube_id, "cube %i", i);

      // Add to the visualizer
      vis.addCube (b[0], b[1], b[2], b[3], b[4], b[5], 1.0, 1.0, 0.0, cube_id);
    }
  }

  vis.addCoordinateSystem(1.5, "global");
  vis.resetCamera ();

  // Enter the main loop
  while (!vis.wasStopped ())
  {
    vis.spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }
}

void
run (float pair_width, float voxel_size, float max_coplanarity_angle)
{
  // The object recognizer
  ObjRecRANSAC objrec (pair_width, voxel_size);
  objrec.setMaxCoplanarityAngleDegrees (max_coplanarity_angle);

  // The models to be loaded
  list<string> model_names;
  model_names.emplace_back("tum_amicelli_box");
  model_names.emplace_back("tum_rusk_box");
  model_names.emplace_back("tum_soda_bottle");

  list<PointCloud<PointXYZ>::Ptr> model_points_list;
  list<PointCloud<Normal>::Ptr> model_normals_list;
  list<vtkSmartPointer<vtkPolyData> > vtk_models_list;

  // Load the models and add them to the recognizer
  for (const auto &model_name : model_names)
  {
    PointCloud<PointXYZ>::Ptr model_points (new PointCloud<PointXYZ> ());
    model_points_list.push_back (model_points);

    PointCloud<Normal>::Ptr model_normals (new PointCloud<Normal> ());
    model_normals_list.push_back (model_normals);

    vtkSmartPointer<vtkPolyData> vtk_model = vtkSmartPointer<vtkPolyData>::New ();
    vtk_models_list.push_back (vtk_model);

    // Compose the file
    string file_name = string("../../test/") + model_name + string (".vtk");

    // Get the points and normals from the input model
    if ( !vtk2PointCloud (file_name.c_str (), *model_points, *model_normals, vtk_model) )
      continue;

    // Add the model
    objrec.addModel (*model_points, *model_normals, model_name, vtk_model);
  }

  // The scene in which the models are supposed to be recognized
  PointCloud<PointXYZ>::Ptr non_plane_points (new PointCloud<PointXYZ> ()), plane_points (new PointCloud<PointXYZ> ());
  PointCloud<Normal>::Ptr non_plane_normals (new PointCloud<Normal> ());

  // Detect the largest plane in the dataset
  if ( !loadScene ("../../test/tum_table_scene.vtk", *non_plane_points, *non_plane_normals, *plane_points) )
    return;

  // The parameters for the callback function and the visualizer
  PCLVisualizer viz;
  CallbackParameters params(objrec, viz, *non_plane_points, *non_plane_normals);
  viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (&params));

  // Run the recognition and update the viewer. Have a look at this method, to see how to start the recognition and use the result!
  update (&params);

  // From this line on: visualization stuff only!
#ifdef _SHOW_OCTREE_
  show_octree(objrec.getSceneOctree (), viz);
#endif

#ifdef _SHOW_SCENE_POINTS_
  viz.addPointCloud (scene_points, "scene points");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "scene points");
#endif

#ifdef _SHOW_OCTREE_POINTS_
  PointCloud<PointXYZ>::Ptr octree_points (new PointCloud<PointXYZ> ());
  objrec.getSceneOctree ().getFullLeavesPoints (*octree_points);
  viz.addPointCloud (octree_points, "octree points");
//  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "octree points");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "octree points");

  viz.addPointCloud (plane_points, "plane points");
  viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 0.9, 0.9, 0.9, "plane points");
#endif

#if defined _SHOW_OCTREE_NORMALS_ && defined _SHOW_OCTREE_POINTS_
  PointCloud<Normal>::Ptr normals_octree (new PointCloud<Normal> ());
  objrec.getSceneOctree ().getNormalsOfFullLeaves (*normals_octree);
  viz.addPointCloudNormals<PointXYZ,Normal> (points_octree, normals_octree, 1, 6.0f, "normals out");
#endif

  // Enter the main loop
  while (!viz.wasStopped ())
  {
    //main loop of the visualizer
    viz.spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }
}

void run (const char* file_name, float voxel_size)
{
    PointCloud<PointXYZ>::Ptr points_in (new PointCloud<PointXYZ> ());
    PointCloud<PointXYZ>::Ptr points_out (new PointCloud<PointXYZ> ());
    PointCloud<Normal>::Ptr normals_in (new PointCloud<Normal> ());
    PointCloud<Normal>::Ptr normals_out (new PointCloud<Normal> ());

    // Get the points and normals from the input vtk file
#ifdef _SHOW_OCTREE_NORMALS_
    if ( !vtk_to_pointcloud (file_name, *points_in, &(*normals_in)) )
        return;
#else
    if ( !vtk_to_pointcloud (file_name, *points_in, NULL) )
        return;
#endif

    // Build the octree with the desired resolution
    ORROctree octree;
    if ( normals_in->size () )
        octree.build (*points_in, voxel_size, &*normals_in);
    else
        octree.build (*points_in, voxel_size);

    // Get the first full leaf in the octree (arbitrary order)
    std::vector<ORROctree::Node*>::iterator leaf = octree.getFullLeaves ().begin ();

    // Get the average points in every full octree leaf
    octree.getFullLeavesPoints (*points_out);
    // Get the average normal at the points in each leaf
    if ( normals_in->size () )
        octree.getNormalsOfFullLeaves (*normals_out);

    // The visualizer
    PCLVisualizer viz;

    // Register a keyboard callback
    CallbackParameters params(octree, viz, leaf);
    viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (&params));

    // Add the point clouds
    viz.addPointCloud (points_in, "cloud in");
    viz.addPointCloud (points_out, "cloud out");
    if ( normals_in->size () )
        viz.addPointCloudNormals<PointXYZ,Normal> (points_out, normals_out, 1, 6.0f, "normals out");

    // Change the appearance
    viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
    viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud out");
    viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud out");

    // Convert the octree to a VTK poly-data object
//  show_octree(&octree, viz, true/*show full leaves only*/);

    updateViewer (octree, viz, leaf);

    // Enter the main loop
    while (!viz.wasStopped ())
    {
        //main loop of the visualizer
        viz.spinOnce (100);
        boost::this_thread::sleep (boost::posix_time::microseconds (100000));
    }
}