Function run

apps/src/face_detection/filesystem_face_detection.cpp:21–153

template <class PointInT>
void
run(pcl::RFFaceDetectorTrainer& fdrf,
    typename pcl::PointCloud<PointInT>::Ptr& scene_vis,
    pcl::visualization::PCLVisualizer& vis,
    bool heat_map,
    bool show_votes,
    const std::string& filename)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr scene(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::copyPointCloud(*scene_vis, *scene);

  fdrf.setInputCloud(scene);

  if (heat_map) {
    pcl::PointCloud<pcl::PointXYZI>::Ptr intensity_cloud(
        new pcl::PointCloud<pcl::PointXYZI>);
    fdrf.setFaceHeatMapCloud(intensity_cloud);
  }

  fdrf.detectFaces();

  using FieldListM = typename pcl::traits::fieldList<PointInT>::type;

  float rgb_m;
  bool exists_m;
  pcl::for_each_type<FieldListM>(
      pcl::CopyIfFieldExists<PointInT, float>((*scene_vis)[0], "rgb", exists_m, rgb_m));

  std::cout << "Color exists:" << static_cast<int>(exists_m) << std::endl;
  if (exists_m) {
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr to_visualize(
        new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::copyPointCloud(*scene_vis, *to_visualize);

    pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>
        handler_keypoints(to_visualize);
    vis.addPointCloud<pcl::PointXYZRGB>(to_visualize, handler_keypoints, "scene_cloud");
  }
  else {
    vis.addPointCloud(scene_vis, "scene_cloud");
  }

  if (heat_map) {
    pcl::PointCloud<pcl::PointXYZI>::Ptr intensity_cloud(
        new pcl::PointCloud<pcl::PointXYZI>);
    fdrf.getFaceHeatMap(intensity_cloud);

    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI>
        handler_keypoints(intensity_cloud, "intensity");
    vis.addPointCloud<pcl::PointXYZI>(intensity_cloud, handler_keypoints, "heat_map");
  }

  if (show_votes) {

    pcl::PointCloud<pcl::PointXYZI>::Ptr votes_cloud(
        new pcl::PointCloud<pcl::PointXYZI>());
    fdrf.getVotes2(votes_cloud);
    pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZI>