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C++ PCLVisualizer::getPointCloudRenderingProperties方法代码示例

本文整理汇总了C++中pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties方法的典型用法代码示例。如果您正苦于以下问题：C++ PCLVisualizer::getPointCloudRenderingProperties方法的具体用法？C++ PCLVisualizer::getPointCloudRenderingProperties怎么用？C++ PCLVisualizer::getPointCloudRenderingProperties使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类pcl::visualization::PCLVisualizer的用法示例。


在下文中一共展示了PCLVisualizer::getPointCloudRenderingProperties方法的6个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: switch

void 
keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
{
  double opacity;
  if (event.keyUp())
  {
    switch (event.getKeyCode())
    {
      case '1':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "nan boundary edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "nan boundary edges");
        break;
      case '2':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluding edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "occluding edges");
        break;
      case '3':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluded edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "occluded edges");
        break;
      case '4':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "high curvature edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "high curvature edges");
        break;
      case '5':
        viewer.getPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "rgb edges");
        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0-opacity, "rgb edges");
        break;
    }
  }
}
开发者ID:Bardo91，项目名称:pcl，代码行数:31，代码来源:pcd_organized_edge_detection.cpp

示例2: viz_cb

    void viz_cb (pcl::visualization::PCLVisualizer& viz)
    {
      static bool first_time = true;
      double psize = 1.0,opacity = 1.0,linesize =1.0;
      std::string cloud_name ("cloud");
      boost::mutex::scoped_lock l(m_mutex);
      if (new_cloud)
      {
        //typedef pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal> ColorHandler;
        typedef pcl::visualization::PointCloudColorHandlerGenericField <pcl::PointXYZRGBNormal> ColorHandler;
        //ColorHandler Color_handler (normal_cloud);
        ColorHandler Color_handler (normal_cloud,"curvature");
        if (!first_time)
        {
          viz.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, linesize, cloud_name);
          viz.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, cloud_name);
          viz.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, psize, cloud_name);
          //viz.removePointCloud ("normalcloud");
          viz.removePointCloud ("cloud");
        }
        else
          first_time = false;

        //viz.addPointCloudNormals<pcl::PointXYZRGBNormal> (normal_cloud, 139, 0.1, "normalcloud");
        viz.addPointCloud<pcl::PointXYZRGBNormal> (normal_cloud, Color_handler, std::string("cloud"), 0);
        viz.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, linesize, cloud_name);
        viz.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, cloud_name);
        viz.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, psize, cloud_name);
        new_cloud = false;
      }
    }
开发者ID:hitsjt，项目名称:StanfordPCL，代码行数:31，代码来源:kinect_normals_cuda.cpp

示例3: fillVisualizerWithLock

  void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
  {
    const std::string centroidname = this->name + "_centroids";
    const std::string coloredvoxelname = this->name + "_voxels_colored";
    const std::string normalsname = this->name + "_supervoxel_normals";

    if(!firstRun)
    {
      visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, centroidname);
    }
    visualizer.removeAllPointClouds();
    visualizer.removeAllShapes();
    addCentroids(visualizer, centroidname);
    switch(dispMode)
    {
    case ALL:
      addVoxels(visualizer, coloredvoxelname);
      addAdjacency(visualizer);
      addNormals(visualizer, normalsname);
      break;
    case W_VOXELS:
      addVoxels(visualizer, coloredvoxelname);
      break;
    case W_VA:
      addVoxels(visualizer, coloredvoxelname);
      addAdjacency(visualizer);
      break;
    case W_VN:
      addVoxels(visualizer, coloredvoxelname);
      addNormals(visualizer, normalsname);
      break;
    case W_AN:
      addAdjacency(visualizer);
      addNormals(visualizer, normalsname);
      break;
    case W_ADJACENCY:
      addAdjacency(visualizer);
      break;
    case W_NORMALS:
      addNormals(visualizer, normalsname);
      break;
    case ADJACENCY:
      visualizer.removeAllPointClouds();
      addAdjacency(visualizer);
      break;
    case NONE:
      break;
    case TEST:
      filterAdjacency(visualizer);
      break;
    }
  }
开发者ID:yazdani，项目名称:robosherlock，代码行数:52，代码来源:SuperVoxelAnnotator.cpp

示例4: fillVisualizerWithLock

 void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
 {
     double pointSize = 1.0;
     if(firstRun)
     {
         visualizer.addPointCloud(dispCloudPtr_, std::string("stuff"));
         visualizer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, std::string("stuff"));
     }
     else
     {
         visualizer.updatePointCloud(dispCloudPtr_, std::string("stuff"));
         visualizer.getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, std::string("stuff"));
     }
 }
开发者ID:wiedemeyer，项目名称:robosherlock，代码行数:14，代码来源:PrimitiveShapeAnnotator.cpp

示例5: fillVisualizerWithLock

  void fillVisualizerWithLock(pcl::visualization::PCLVisualizer &visualizer, const bool firstRun)
  {

    const std::string cloudname = this->name;

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

  }
开发者ID:yazdani，项目名称:robosherlock，代码行数:17，代码来源:ClusterMerger.cpp

示例6: fillVisualizerWithLock

  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());
    }
  }
开发者ID:bbferka，项目名称:robosherlock，代码行数:67，代码来源:RegionFilter.cpp


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