Method keyboardCallback

tools/depth_sense_viewer.cpp:179–239

    }

    void
    keyboardCallback (const pcl::visualization::KeyboardEvent& event, void*)
    {
      if (event.keyDown ())
      {
        if (event.getKeyCode () == 'w' || event.getKeyCode () == 'W')
        {
          window_ += event.getKeyCode () == 'w' ? 1 : -1;
          if (window_ < 1)
            window_ = 1;
          pcl::console::print_info ("Temporal filtering window size: ");
          pcl::console::print_value ("%i\n", window_);
          grabber_.enableTemporalFiltering (temporal_filtering_, window_);
        }
        if (event.getKeyCode () == 't' || event.getKeyCode () == 'T')
        {
          threshold_ += event.getKeyCode () == 't' ? 10 : -10;
          if (threshold_ < 0)
            threshold_ = 0;
          pcl::console::print_info ("Confidence threshold: ");
          pcl::console::print_value ("%i\n", threshold_);
          grabber_.setConfidenceThreshold (threshold_);
        }
        if (event.getKeyCode () == 'k')
        {
          pcl::console::print_info ("Temporal filtering: ");
          switch (temporal_filtering_)
          {
            case pcl::DepthSenseGrabber::DepthSense_None:
              {
                temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_Median;
                pcl::console::print_value ("median\n");
                break;
              }
            case pcl::DepthSenseGrabber::DepthSense_Median:
              {
                temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_Average;
                pcl::console::print_value ("average\n");
                break;
              }
            case pcl::DepthSenseGrabber::DepthSense_Average:
              {
                temporal_filtering_ = pcl::DepthSenseGrabber::DepthSense_None;
                pcl::console::print_value ("none\n");
                break;
              }
          }
          grabber_.enableTemporalFiltering (temporal_filtering_, window_);
        }
        if (event.getKeyCode () == 's')
        {
          boost::format fmt ("DS_%s_%u.pcd");
          std::string fn = boost::str (fmt % grabber_.getDeviceSerialNumber ().c_str () % last_cloud_->header.stamp);
          pcl::io::savePCDFileBinaryCompressed (fn, *last_cloud_);
          pcl::console::print_info ("Saved point cloud: ");
          pcl::console::print_value (fn.c_str ());
          pcl::console::print_info ("\n");
        }