Function run

tools/obj_rec_ransac_accepted_hypotheses.cpp:404–463

//===============================================================================================================================

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);
    std::this_thread::sleep_for(100ms);
  }