C++ Ptr::setUseColor方法代码示例

  void
  execute (int argc, char** argv, std::string plyfile)
  {
    PtrStepSz<const unsigned short> depth;
    PtrStepSz<const KinfuTracker::PixelRGB> rgb24;
    int time_ms = 0;
    bool has_image = false;

    // Create simulation environment:
    int width = 640;
    int height = 480;
    for (int i=0; i<2048; i++)
    {
      float v = i/2048.0;
      v = powf(v, 3)* 6;
      t_gamma[i] = v*6*256;
    }  

    glutInit (&argc, argv);
    glutInitDisplayMode (GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB);// was GLUT_RGBA
    glutInitWindowPosition (10, 10);
    glutInitWindowSize (10, 10);
    //glutInitWindowSize (window_width_, window_height_);
    glutCreateWindow ("OpenGL range likelihood");

    GLenum err = glewInit ();
    if (GLEW_OK != err)
    {
      std::cerr << "Error: " << glewGetErrorString (err) << std::endl;
      exit (-1);
    }

    std::cout << "Status: Using GLEW " << glewGetString (GLEW_VERSION) << std::endl;

    if (glewIsSupported ("GL_VERSION_2_0"))
      std::cout << "OpenGL 2.0 supported" << std::endl;
    else
    {
      std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
      exit(1);
    }
    std::cout << "GL_MAX_VIEWPORTS: " << GL_MAX_VIEWPORTS << std::endl;
  
    camera_ = Camera::Ptr (new Camera ());
    scene_ = Scene::Ptr (new Scene ());
    range_likelihood_ = RangeLikelihood::Ptr (new RangeLikelihood (1, 1, height, width, scene_));

    // Actually corresponds to default parameters:
    range_likelihood_->setCameraIntrinsicsParameters (640,480, 576.09757860,
	      576.09757860, 321.06398107, 242.97676897);
    range_likelihood_->setComputeOnCPU (false);
    range_likelihood_->setSumOnCPU (true);
    range_likelihood_->setUseColor (true);  

    camera_->set(0.471703, 1.59862, 3.10937, 0, 0.418879, -12.2129);
    camera_->set_pitch(0.418879); // not sure why this is here:

    cout << "About to read: "<< plyfile << endl;   
    load_PolygonMesh_model (plyfile);  
    
    // Generate a series of poses:
    std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
    Eigen::Vector3d focus_center(0,0,1.3);
    //  double halo_r = 4.0;
    double halo_r = 1.5;  
    double halo_dz = 1.5; // was 2;
    // 20 is too quick when adding noise:
    // 50 is ok though
    int n_poses=50;
    int n_pose_stop = 10;
    // above means make a circle of 50 poses, stop after the 10th i.e. 1/5 of a halo ring:
    generate_halo(poses,focus_center,halo_r,halo_dz,n_poses);    
    
    unsigned short * disparity_buf_ = new unsigned short[width*height ];
    const KinfuTracker::PixelRGB* color_buf_;
    const uint8_t* color_buf_uint;
    
    // loop though and create the mesh:
    for (int i = 0; !exit_; ++i)
    { 
      vector<double> tic_toc;
      tic_toc.push_back(getTime());
      double tic_main = getTime();

      Eigen::Vector3d t(poses[i].translation());
      Eigen::Quaterniond r(poses[i].rotation());
      std::stringstream ss;
      ss << t[0]<<", "<<t[1]<<", "<<t[2]<<" | " 
          <<r.w()<<", "<<r.x()<<", "<<r.y()<<", "<<r.z() ;       
      std::cout << i << ": " << ss.str() << " pose_simulatedposition\n";      
      
      capture (poses[i],disparity_buf_, color_buf_uint);//,ss.str());
      color_buf_ = (const KinfuTracker::PixelRGB*) color_buf_uint;
      PtrStepSz<const unsigned short> depth_sim = PtrStepSz<const unsigned short>(height, width, disparity_buf_, 2*width);
      //cout << depth_sim.rows << " by " << depth_sim.cols << " | s: " << depth_sim.step << "\n";
      // RGB-KinFu currently disabled for now - problems with color in KinFu apparently
      // but this constructor might not  be right either: not sure about step size
      integrate_colors_=false;
      PtrStepSz<const KinfuTracker::PixelRGB> rgb24_sim = PtrStepSz<const KinfuTracker::PixelRGB>(height, width, color_buf_, width);
      tic_toc.push_back (getTime ());
//.........这里部分代码省略.........

int
main (int argc, char** argv)
{
  int width = 640;
  int height = 480;

  window_width_ = width * 2;
  window_height_ = height * 2;

  int cols = 30;
  int rows = 30;
  int col_width = 20;
  int row_height = 15;
  
  print_info ("Range likelihood performance tests using pcl::simulation. For more information, use: %s -h\n", argv[0]);

  if (argc < 2)
  {
    printHelp (argc, argv);
    return (-1);
  }  
  
  for (int i = 0; i < 2048; ++i)
  {
    float v = static_cast<float> (i / 2048.0);
    v = powf(v, 3)* 6;
    t_gamma[i] = static_cast<uint16_t> (v*6*256);
  }  

  glutInit (&argc, argv);
  glutInitDisplayMode (GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB);
  glutInitWindowPosition (10, 10);
  glutInitWindowSize (window_width_, window_height_);
  glutCreateWindow ("OpenGL range likelihood");

  GLenum err = glewInit ();
  if (GLEW_OK != err)
  {
    std::cerr << "Error: " << glewGetErrorString (err) << std::endl;
    exit (-1);
  }

  std::cout << "Status: Using GLEW " << glewGetString (GLEW_VERSION) << std::endl;

  if (glewIsSupported ("GL_VERSION_2_0"))
    std::cout << "OpenGL 2.0 supported" << std::endl;
  else
  {
    std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
    exit (1);
  }

  std::cout << "GL_MAX_VIEWPORTS: " << GL_MAX_VIEWPORTS << std::endl;

  camera_ = Camera::Ptr (new Camera ());
  scene_ = Scene::Ptr (new Scene ());

  range_likelihood_visualization_ = RangeLikelihood::Ptr (new RangeLikelihood (1, 1, height, width, scene_));
  range_likelihood_ = RangeLikelihood::Ptr (new RangeLikelihood (rows, cols, row_height, col_width, scene_));

  // Actually corresponds to default parameters:
  range_likelihood_visualization_->setCameraIntrinsicsParameters (
      640, 480, 576.09757860f, 576.09757860f, 321.06398107f, 242.97676897f);
  range_likelihood_visualization_->setComputeOnCPU (false);
  range_likelihood_visualization_->setSumOnCPU (false);
  range_likelihood_visualization_->setUseColor (true);

  range_likelihood_->setCameraIntrinsicsParameters (
      640, 480, 576.09757860f, 576.09757860f, 321.06398107f, 242.97676897f);
  range_likelihood_->setComputeOnCPU (false);
  range_likelihood_->setSumOnCPU (false);
  range_likelihood_->setUseColor (false);

  textured_quad_ = TexturedQuad::Ptr (new TexturedQuad (range_likelihood_->getWidth (),
                                                        range_likelihood_->getHeight ()));

  initialize (argc, argv);

  glutDisplayFunc (display);
  glutIdleFunc (display);
  glutKeyboardFunc (on_keyboard);
  glutMainLoop ();
}

//.........这里部分代码省略.........
    // Change the cloud rendered point size
    if (psize.size () > 0)
      p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, psize.at (i), cloud_name.str ());

    // Change the cloud rendered opacity
    if (opaque.size () > 0)
      p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opaque.at (i), cloud_name.str ());

    // Reset camera viewpoint to center of cloud if camera parameters were not passed manually and this is the first loaded cloud
    //if (i == 0 && !p->cameraParamsSet ())
     // p->resetCameraViewpoint (cloud_name.str ());
  }
  
  
  ////////////////////////////////////////////////////////////////
  // Key binding for saving simulated point cloud:
  if (p)
    p->registerKeyboardCallback(simulate_callback, (void*)&p);
  
  
  
  
  int width = 640;
  int height = 480;
  window_width_ = width * 2;
  window_height_ = height * 2;

  print_info ("Manually generate a simulated RGB-D point cloud using pcl::simulation. For more information, use: %s -h\n", argv[0]);

  for (int i=0; i<2048; i++)
  {
    float v = i/2048.0;
    v = powf(v, 3)* 6;
    t_gamma[i] = v*6*256;
  }    

  GLenum err = glewInit ();
  if (GLEW_OK != err)
  {
    std::cerr << "Error: " << glewGetErrorString (err) << std::endl;
    exit (-1);
  }

  std::cout << "Status: Using GLEW " << glewGetString (GLEW_VERSION) << std::endl;

  if (glewIsSupported ("GL_VERSION_2_0"))
    std::cout << "OpenGL 2.0 supported" << std::endl;
  else
  {
    std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
    exit(1);
  }


  camera_ = Camera::Ptr (new Camera ());
  scene_ = Scene::Ptr (new Scene ());

  range_likelihood_ = RangeLikelihood::Ptr (new RangeLikelihood(1, 1, height, width, scene_));

  // range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(10, 10, 96, 96, scene_));
  // range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(1, 1, 480, 640, scene_));

  // Actually corresponds to default parameters:
  range_likelihood_->setCameraIntrinsicsParameters (640,480, 576.09757860,
            576.09757860, 321.06398107, 242.97676897);
  range_likelihood_->setComputeOnCPU (false);
  range_likelihood_->setSumOnCPU (true);
  range_likelihood_->setUseColor (true);
  initialize (argc, argv); 

  if (p)
    p->setBackgroundColor (bcolor[0], bcolor[1], bcolor[2]);
  // Read axes settings
  double axes  = 0.0;
  pcl::console::parse_argument (argc, argv, "-ax", axes);
  if (axes != 0.0 && p)
  {
    double ax_x = 0.0, ax_y = 0.0, ax_z = 0.0;
    pcl::console::parse_3x_arguments (argc, argv, "-ax_pos", ax_x, ax_y, ax_z, false);
    // Draw XYZ axes if command-line enabled
    p->addCoordinateSystem (axes, ax_x, ax_y, ax_z);
  }

  // Clean up the memory used by the binary blob
  // Note: avoid resetting the cloud, otherwise the PointPicking callback will fail
  //cloud.reset ();

  if (ph)
  {
    print_highlight ("Setting the global Y range for all histograms to: "); print_value ("%f -> %f\n", min_p, max_p);
    ph->setGlobalYRange (min_p, max_p);
    ph->updateWindowPositions ();
    if (p)
      p->spin ();
    else
      ph->spin ();
  }
  else if (p)
    p->spin ();
}

int
main (int argc, char** argv)
{
  int width = 640;
  int height = 480;

  window_width_ = width * 2;
  window_height_ = height * 2;

  print_info ("Manually generate a simulated RGB-D point cloud using pcl::simulation. For more information, use: %s -h\n", argv[0]);

  if (argc < 2)
  {
    printHelp (argc, argv);
    return (-1);
  }  
  
  int i;
  for (i=0; i<2048; i++)
  {
    float v = i/2048.0;
    v = powf(v, 3)* 6;
    t_gamma[i] = v*6*256;
  }  

  glutInit (&argc, argv);
  glutInitDisplayMode (GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB);// was GLUT_RGBA
  glutInitWindowPosition (10, 10);
  glutInitWindowSize (window_width_, window_height_);
  glutCreateWindow ("OpenGL range likelihood");

  GLenum err = glewInit ();
  if (GLEW_OK != err)
  {
    std::cerr << "Error: " << glewGetErrorString (err) << std::endl;
    exit (-1);
  }

  std::cout << "Status: Using GLEW " << glewGetString (GLEW_VERSION) << std::endl;

  if (glewIsSupported ("GL_VERSION_2_0"))
    std::cout << "OpenGL 2.0 supported" << std::endl;
  else
  {
    std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
    exit(1);
  }
  std::cout << "GL_MAX_VIEWPORTS: " << GL_MAX_VIEWPORTS << std::endl;

  camera_ = Camera::Ptr (new Camera ());
  scene_ = Scene::Ptr (new Scene ());

  //range_likelihood_ = RangeLikelihoodGLSL::Ptr(new RangeLikelihoodGLSL(1, 1, height, width, scene_, 0));

  range_likelihood_ = RangeLikelihood::Ptr (new RangeLikelihood (2, 2, height/2, width/2, scene_));
  // range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(10, 10, 96, 96, scene_));
  // range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(1, 1, 480, 640, scene_));

  // Actually corresponds to default parameters:
  range_likelihood_->setCameraIntrinsicsParameters (640,480, 576.09757860,
            576.09757860, 321.06398107, 242.97676897);
  range_likelihood_->setComputeOnCPU (false);
  range_likelihood_->setSumOnCPU (true);
  range_likelihood_->setUseColor (true);
  
  initialize (argc, argv);

  glutReshapeFunc (on_reshape);
  glutDisplayFunc (display);
  glutIdleFunc (display);
  glutKeyboardFunc (on_keyboard);
  glutMouseFunc (on_mouse);
  glutMotionFunc (on_motion);
  glutPassiveMotionFunc (on_passive_motion);
  glutEntryFunc (on_entry);
  glutMainLoop ();

  return 0;
}