C++ PCLVisualizer::addCube方法代码示例

int main (int argc, char const* argv[])
{
	if (argc != 2) {
		cout << "Usage : obb_test filename.pcd" << endl;
		return 1;
	}
	
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
 	if (pcl::io::loadPCDFile<pcl::PointXYZ> (argv[1], *cloud) == -1) {
    PCL_ERROR ("Couldn't read file test_pcd.pcd \n");
    return 1;
  }

	cloud_viewer.addPointCloud (cloud, "single_cloud");

	OrientedBoundingBox obb;
	Eigen::Quaternionf q;
	Eigen::Vector3f t, dims;
	obb.compute_obb_pca (cloud, q, t, dims);
  cloud_viewer.addCube(t, q, dims.x(), dims.y(), dims.z());
  cout << dims.x() << " " << dims.y() << " " << dims.z() << endl;
  
  while (!cloud_viewer.wasStopped()) {
    cloud_viewer.spinOnce(1);
	}
  
	return 0;
}

void pcl::people::PersonCluster<PointT>::drawTBoundingBox (pcl::visualization::PCLVisualizer& viewer, int person_number)
{
  // draw theoretical person bounding box in the PCL viewer:
  pcl::ModelCoefficients coeffs;
  // translation
  coeffs.values.push_back (tcenter_[0]);
  coeffs.values.push_back (tcenter_[1]);
  coeffs.values.push_back (tcenter_[2]);
  // rotation
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (0.0);
  coeffs.values.push_back (1.0);
  // size
  if (vertical_)
  {
    coeffs.values.push_back (height_);
    coeffs.values.push_back (0.5);
    coeffs.values.push_back (0.5);
  }
  else
  {
    coeffs.values.push_back (0.5);
    coeffs.values.push_back (height_);
    coeffs.values.push_back (0.5);
  }

  std::stringstream bbox_name;
  bbox_name << "bbox_person_" << person_number;
  viewer.removeShape (bbox_name.str());
  viewer.addCube (coeffs, bbox_name.str());
  viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 0.0, 1.0, 0.0, bbox_name.str());
  viewer.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 2, bbox_name.str());

  //      std::stringstream confid;
  //      confid << person_confidence_;
  //      PointT position;
  //      position.x = tcenter_[0]- 0.2;
  //      position.y = ttop_[1];
  //      position.z = tcenter_[2];
  //      viewer.addText3D(confid.str().substr(0, 4), position, 0.1);
}

  void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
  {
    const std::string &cloudname = this->name;

    if(firstRun)
    {
      visualizer.addPointCloud(cloud, cloudname);
      visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, cloudname);
    }
    else
    {
      visualizer.updatePointCloud(cloud, cloudname);
      visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, cloudname);
      visualizer.removeAllShapes();
    }

    visualizer.addLine(pcl::PointXYZ(0, 0, 0), pcl::PointXYZ(0.2, 0, 0), 1, 0, 0, "X");
    visualizer.addLine(pcl::PointXYZ(0, 0, 0), pcl::PointXYZ(0, 0.2, 0), 0, 1, 0, "Y");
    visualizer.addLine(pcl::PointXYZ(0, 0, 0), pcl::PointXYZ(0, 0, 0.2), 0, 0, 1, "Z");

    tf::Vector3 origin = worldToCam * tf::Vector3(0, 0, 0);
    tf::Vector3 lineX = worldToCam * tf::Vector3(0.2, 0, 0);
    tf::Vector3 lineY = worldToCam * tf::Vector3(0, 0.2, 0);
    tf::Vector3 lineZ = worldToCam * tf::Vector3(0, 0, 0.2);

    pcl::PointXYZ pclOrigin(origin.x(), origin.y(), origin.z());
    pcl::PointXYZ pclLineX(lineX.x(), lineX.y(), lineX.z());
    pcl::PointXYZ pclLineY(lineY.x(), lineY.y(), lineY.z());
    pcl::PointXYZ pclLineZ(lineZ.x(), lineZ.y(), lineZ.z());

    visualizer.addLine(pcl::PointXYZ(0, 0, 0), pclOrigin, 1, 1, 1, "line");
    visualizer.addLine(pclOrigin, pclLineX, 1, 0, 0, "lineX");
    visualizer.addLine(pclOrigin, pclLineY, 0, 1, 0, "lineY");
    visualizer.addLine(pclOrigin, pclLineZ, 0, 0, 1, "lineZ");

    for(int i = 0; i < regions.size(); ++i)
    {
      const Region &region = regions[i];
      tf::Transform transform = worldToCam * region.transform;

      std::ostringstream oss;
      oss << "region_" << i;

      tf::Vector3 originB = transform * tf::Vector3(0, 0, 0);
      tf::Vector3 lineXB = transform * tf::Vector3(0.2, 0, 0);
      tf::Vector3 lineYB = transform * tf::Vector3(0, 0.2, 0);
      tf::Vector3 lineZB = transform * tf::Vector3(0, 0, 0.2);

      pcl::PointXYZ pclOriginB(originB.x(), originB.y(), originB.z());
      pcl::PointXYZ pclLineXB(lineXB.x(), lineXB.y(), lineXB.z());
      pcl::PointXYZ pclLineYB(lineYB.x(), lineYB.y(), lineYB.z());
      pcl::PointXYZ pclLineZB(lineZB.x(), lineZB.y(), lineZB.z());

      visualizer.addLine(pclOrigin, pclOriginB, 1, 1, 1, "line_" + oss.str());
      visualizer.addLine(pclOriginB, pclLineXB, 1, 0, 0, "lineX_" + oss.str());
      visualizer.addLine(pclOriginB, pclLineYB, 0, 1, 0, "lineY_" + oss.str());
      visualizer.addLine(pclOriginB, pclLineZB, 0, 0, 1, "lineZ_" + oss.str());

      Eigen::Vector3d translation;
      Eigen::Quaterniond rotation;

      tf::vectorTFToEigen(transform.getOrigin(), translation);
      tf::quaternionTFToEigen(transform.getRotation(), rotation);

      visualizer.addCube(translation.cast<float>(), rotation.cast<float>(), region.width, region.height, region.depth, oss.str());
    }
  }