Function visualize

tools/obj_rec_ransac_hash_table.cpp:162–227

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

void
visualize (const ModelLibrary::HashTable& hash_table)
{
  PCLVisualizer vis;
  vis.setBackgroundColor (0.1, 0.1, 0.1);

  const ModelLibrary::HashTableCell* cells = hash_table.getVoxels ();
  std::size_t max_num_entries = 0;
  int id3[3], num_cells = hash_table.getNumberOfVoxels ();
  float half_side, b[6], cell_center[3], spacing = hash_table.getVoxelSpacing ()[0];
  char cube_id[128];

  // Just get the maximal number of entries in the cells
  for ( int i = 0 ; i < num_cells ; ++i, ++cells )
  {
    if (!cells->empty ()) // That's the number of models in the cell (it's maximum one, since we loaded only one model)
    {
      std::size_t num_entries = (*cells->begin ()).second.size(); // That's the number of entries in the current cell for the model we loaded
      // Get the max number of entries
      if ( num_entries > max_num_entries )
        max_num_entries = num_entries;
    }
  }

  // Now, that we have the max. number of entries, we can compute the
  // right scale factor for the spheres
  float s = (0.5f*spacing)/static_cast<float> (max_num_entries);

  std::cout << "s = " << s << ", max_num_entries = " << max_num_entries << std::endl;

  // Now, render a sphere with the right radius at the right place
  cells = hash_table.getVoxels ();
  for ( int i = 0; i < num_cells ; ++i, ++cells )
  {
    // Does the cell have any entries?
    if (!cells->empty ())
    {
      hash_table.compute3dId (i, id3);
      hash_table.computeVoxelCenter (id3, cell_center);

      // That's half of the cube's side length
      half_side = s*static_cast<float> ((*cells->begin ()).second.size ());

      // Adjust the bounds of the cube
      b[0] = cell_center[0] - half_side; b[1] = cell_center[0] + half_side;
      b[2] = cell_center[1] - half_side; b[3] = cell_center[1] + half_side;
      b[4] = cell_center[2] - half_side; b[5] = cell_center[2] + half_side;

      // Set the id
      sprintf (cube_id, "cube %i", i);

      // Add to the visualizer
      vis.addCube (b[0], b[1], b[2], b[3], b[4], b[5], 1.0, 1.0, 0.0, cube_id);
    }
  }

  vis.addCoordinateSystem(1.5, "global");
  vis.resetCamera ();