Method initGUI

apps/src/pcd_select_object_plane.cpp:551–597

////////////////////////////////////////////////////////////////////

  /////////////////////////////////////////////////////////////////////////
  void
  initGUI()
  {
    cloud_viewer_.reset(new visualization::PCLVisualizer("PointCloud"));

    if (cloud_->isOrganized()) {
      // If the dataset is organized, and has RGB data, create an image viewer
      std::vector<pcl::PCLPointField> fields;
      int rgba_index = -1;
      rgba_index = getFieldIndex<PointT>("rgba", fields);

      if (rgba_index >= 0) {
        image_viewer_.reset(new visualization::ImageViewer("RGB PCLImage"));

        image_viewer_->registerMouseCallback(&ObjectSelection::mouse_callback, *this);
        image_viewer_->registerKeyboardCallback(&ObjectSelection::keyboard_callback,
                                                *this);
        image_viewer_->setPosition(cloud_->width, 0);
        image_viewer_->setSize(cloud_->width, cloud_->height);

        int poff = fields[rgba_index].offset;
        // BGR to RGB
        rgb_data_ = new unsigned char[cloud_->width * cloud_->height * 3];
        for (std::uint32_t i = 0; i < cloud_->width * cloud_->height; ++i) {
          RGB rgb;
          memcpy(&rgb,
                 reinterpret_cast<unsigned char*>(&(*cloud_)[i]) + poff,
                 sizeof(rgb));

          rgb_data_[i * 3 + 0] = rgb.r;
          rgb_data_[i * 3 + 1] = rgb.g;
          rgb_data_[i * 3 + 2] = rgb.b;
        }
        image_viewer_->showRGBImage(rgb_data_, cloud_->width, cloud_->height);
      }
      cloud_viewer_->setSize(cloud_->width, cloud_->height);
    }

    cloud_viewer_->registerMouseCallback(&ObjectSelection::mouse_callback, *this);
    cloud_viewer_->registerKeyboardCallback(&ObjectSelection::keyboard_callback, *this);
    cloud_viewer_->registerPointPickingCallback(&ObjectSelection::pp_callback, *this);
    cloud_viewer_->setPosition(0, 0);

    cloud_viewer_->addPointCloud(cloud_, "scene");
    cloud_viewer_->resetCameraViewpoint("scene");
    cloud_viewer_->addCoordinateSystem(0.1, 0, 0, 0, "global");
  }

  /////////////////////////////////////////////////////////////////////////
  bool