1 #include <visp3/core/vpConfig.h>
7 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION)
10 #include <visp3/core/vpIoTools.h>
14 #include "ClassUsingPclViewer.h"
22 typedef enum DisplayMode
36 std::string displayModeToString(
const DisplayMode &mode)
58 DisplayMode displayModeFromString(
const std::string &name)
60 DisplayMode res = DisplayMode::MODE_COUNT;
61 bool wasFound =
false;
63 for (
unsigned int i = 0; i < DisplayMode::MODE_COUNT && !wasFound; i++) {
64 DisplayMode candidate = (DisplayMode)i;
65 if (lowerCaseName == displayModeToString(candidate)) {
81 std::string getAvailableDisplayMode(
const std::string &prefix =
"< ",
const std::string &sep =
" , ",
const std::string &suffix =
" >")
83 std::string modes(prefix);
84 for (
unsigned int i = 0; i < DisplayMode::MODE_COUNT - 1; i++) {
85 DisplayMode candidate = (DisplayMode)i;
86 modes += displayModeToString(candidate) + sep;
88 DisplayMode candidate = (DisplayMode)(DisplayMode::MODE_COUNT - 1);
89 modes += displayModeToString(candidate) + suffix;
94 int main(
int argc,
char *argv[])
97 const double def_addedNoise = 0.;
98 const unsigned int def_order = 2;
99 const std::pair<double, double> def_xlim = std::pair<double, double>(-2.5, 2.5);
100 const std::pair<double, double> def_ylim = std::pair<double, double>(-2.5, 2.5);
101 const std::pair<unsigned int, unsigned int> def_reso = std::pair<unsigned int, unsigned int>(50, 50);
102 const DisplayMode def_mode = DisplayMode::BLOCKING;
106 double opt_addedNoise = def_addedNoise;
107 unsigned int opt_order = def_order;
108 std::pair<double, double> opt_xlim = def_xlim;
109 std::pair<double, double> opt_ylim = def_ylim;
110 std::pair<unsigned int, unsigned int> opt_reso = def_reso;
111 DisplayMode opt_mode = def_mode;
113 for (
int i = 1; i < argc; i++) {
114 if (std::string(argv[i]) ==
"--noise" && i + 1 < argc) {
115 opt_addedNoise = atof(argv[i + 1]);
118 else if (std::string(argv[i]) ==
"--order" && i + 1 < argc) {
119 opt_order = atoi(argv[i + 1]);
122 else if (std::string(argv[i]) ==
"--x-lim" && i + 2 < argc) {
123 opt_xlim.first = atof(argv[i + 1]);
124 opt_xlim.second = atof(argv[i + 2]);
127 else if (std::string(argv[i]) ==
"--y-lim" && i + 2 < argc) {
128 opt_ylim.first = atof(argv[i + 1]);
129 opt_ylim.second = atof(argv[i + 2]);
132 else if (std::string(argv[i]) ==
"--reso" && i + 2 < argc) {
133 opt_reso.first = atoi(argv[i + 1]);
134 opt_reso.second = atoi(argv[i + 2]);
137 else if (std::string(argv[i]) ==
"--display-mode" && i + 1 < argc) {
138 opt_mode = displayModeFromString(std::string(argv[i + 1]));
141 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
143 std::cout <<
"NAME" << std::endl;
144 std::cout <<
"\t" << argv[0] <<
" Test programm for the PCL-based point-cloud visualizer." << std::endl
146 std::cout <<
"SYNOPSIS" << std::endl;
147 std::cout <<
"\t" << argv[0]
148 <<
"\t[--noise <stdev_noise>] (default: " + std::to_string(def_addedNoise) <<
")\n"
149 <<
"\t[--order <surface-order>](default: " + std::to_string(def_order) <<
")\n"
150 <<
"\t[--x-lim <xmin xmax>](default: [" + std::to_string(def_xlim.first) +
";" + std::to_string(def_xlim.second) <<
"])\n"
151 <<
"\t[--y-lim <ymin ymax>](default: [" + std::to_string(def_ylim.first) +
";" + std::to_string(def_ylim.second) <<
"])\n"
152 <<
"\t[--reso <x_resolution y_resolution>](default: [" + std::to_string(def_reso.first) +
";" + std::to_string(def_reso.second) <<
"])\n"
153 <<
"\t[--display-mode " << getAvailableDisplayMode() <<
"](default: " << displayModeToString(def_mode) <<
")\n"
154 <<
"\t[--help] [-h]" << std::endl
162 std::cout <<
"Parameters:" << std::endl;
163 std::cout <<
"\tSurface order: " << opt_order << std::endl;
164 std::cout <<
"\tX-axis limits: [" << opt_xlim.first <<
" ; " << opt_xlim.first <<
"]" << std::endl;
165 std::cout <<
"\tY-axis limits: [" << opt_ylim.first <<
" ; " << opt_ylim.first <<
"]" << std::endl;
166 std::cout <<
"\tGrid resolution: [" << opt_reso.first <<
" x " << opt_reso.first <<
"]" << std::endl;
167 std::cout <<
"\tNoise standard deviation: " << opt_addedNoise << std::endl;
168 std::cout <<
"\tDisplay mode: " << displayModeToString(opt_mode) << std::endl;
171 if (opt_mode == DisplayMode::BLOCKING || opt_mode == DisplayMode::BOTH) {
172 ClassUsingPclViewer demo(opt_xlim, opt_ylim, opt_reso);
173 demo.blockingMode(opt_addedNoise, opt_order);
178 if (opt_mode == DisplayMode::THREADED || opt_mode == DisplayMode::BOTH) {
179 ClassUsingPclViewer demo(opt_xlim, opt_ylim, opt_reso);
180 demo.threadedMode(opt_addedNoise, opt_order);
190 std::cout <<
"ViSP seems to have been compiled without PCL visualization module." << std::endl;
191 std::cout <<
"Please install PCL visualization module and recompile ViSP." << std::endl;