Added a vtk viewer skeleton so that the glut dependency can be dropped in the...

Added a vtk viewer skeleton so that the glut dependency can be dropped in the range image simulation.

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@3247 a9d63959-f2ad-4865-b262-bf0e56cfafb6

simulation/tools/CMakeLists.txt

 PCL_ADD_EXECUTABLE(range-test ${SUBSYS_NAME} range_test.cpp)
 target_link_libraries(range-test pcl_common pcl_simulation pcl_io glut)
 
-
 include_directories(${VTK_INCLUDE_DIRS})
 PCL_ADD_EXECUTABLE(range-test-v2 ${SUBSYS_NAME} range_test_v2.cpp)
 target_link_libraries (range-test-v2  ${VTK_IO_TARGET_LINK_LIBRARIES}  glut
   pcl_simulation   pcl_common  pcl_io pcl_range_image pcl_visualization)
 #pcl_surface pcl_features
 
-
-
 #add_executable(range-test-drive-pcl-version range_test_drive_pcl_version.cpp)
 #pods_use_pkg_config_packages(range-test-drive-pcl-version 
 #      pcl_simulation-1.4 pcl_io-1.4  )
 #target_link_libraries (range-test-drive-pcl-version  glut    )
 #pods_install_executables(range-test-drive-pcl-version)
-
                  
+PCL_ADD_EXECUTABLE(range_viewer ${SUBSYS_NAME} range_viewer.cpp)
+target_link_libraries(range_viewer pcl_common pcl_io pcl_visualization)
 

simulation/tools/range_test_v2.cpp

@@ -407,8 +407,8 @@ void load_PCDstack_model(const std::vector<std::string> & files)
   {
     std::cout << "Load model: " << *file << std::endl;
 
-    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
-    if (pcl::io::loadPCDFile<pcl::PointXYZRGB> (*file, *cloud) == -1) //* load the file
+    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
+    if (pcl::io::loadPCDFile<pcl::PointXYZRGBA> (*file, *cloud) == -1) //* load the file
     {
       PCL_ERROR ("Couldn't read file %s \n", file->c_str()) ;
       exit (-1);
@@ -457,15 +457,22 @@ void initialize(int argc, char** argv)
   if (method==0){
     cout << method << " pcd file stack\n";
     
+    cout << map_file << endl;
+
     cout << "TODO: parse the file path from something like:\n";
     cout << "    /data/rgbd/freenect/2011_06_10_trolley/submaps_new/submap_0*\n";
-    printHelp (argc, argv);
-    exit(-1);
+//    printHelp (argc, argv);
+//    exit(-1);
     
     // this used to work:
     std::vector<std::string> files;
-    for (int i=1; i<argc; ++i) files.push_back(argv[i]);
-  }else if (method==1){
+    int map_arg_index = find_argument(argc, argv, "-map");
+    if (map_arg_index != -1) {
+      for (int i=map_arg_index+1; i<argc; ++i) files.push_back(argv[i]);
+    }
+    load_PCDstack_model(files);
+
+  } else if (method==1) {
     //map_file = "/home/mfallon/data/models/obj_samples/teapot.obj";
     cout << "About to read: " << map_file.c_str() << endl;
     load_PolygonMesh_model(map_file);
@@ -540,5 +547,5 @@ int main(int argc, char** argv)
   glutMotionFunc(on_motion);
   glutPassiveMotionFunc(on_passive_motion);
   glutEntryFunc(on_entry);
-  glutMainLoop();
-}
\ No newline at end of file
+  glutMainLoop(); 
+}

simulation/tools/range_viewer.cpp

+#include <GL/gl.h>
+#include <Eigen/Geometry>
+#include <pcl/common/common.h>
+#include <pcl/io/pcd_io.h>
+#include <cfloat>
+#include <pcl/visualization/point_cloud_handlers.h>
+#include <pcl/visualization/image_viewer.h>
+#include <pcl/visualization/window.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <vtkPolyDataReader.h>
+#include <vtkProp.h>
+
+namespace pcl
+{
+  namespace simulation
+  {
+    class OpenGLProp : public vtkProp {
+      public:
+        static OpenGLProp*
+        New ();
+
+        virtual int
+        RenderOpaqueGeometry (vtkViewport * viewport);
+    };
+
+    int
+    OpenGLProp::RenderOpaqueGeometry(vtkViewport * viewport)
+    {
+      glBegin(GL_TRIANGLES);
+        glVertex3f(1.0, 1.0, 0);
+        glVertex3f(0.0, 1.0, 0);
+        glVertex3f(0.0, 0.0, 0);
+      glEnd();
+
+      return 1;
+    }
+    vtkStandardNewMacro(OpenGLProp);
+
+    class RangeViewer : public pcl::visualization::Window
+    {
+      public:
+        RangeViewer (const std::string& window_name);
+        virtual ~RangeViewer ();
+
+        boost::signals2::connection
+        registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> event)
+        { return pcl::visualization::Window::registerMouseCallback (event); }
+
+        boost::signals2::connection
+        registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> event)
+        { return pcl::visualization::Window::registerKeyboardCallback (event); }
+
+      private:
+        vtkRenderer* renderer_;
+        OpenGLProp* prop_;
+    };
+
+    RangeViewer::RangeViewer (const std::string& window_name) : pcl::visualization::Window(window_name)
+    {
+      prop_ = OpenGLProp::New();
+
+      win_->SetSize (500, 500);
+
+      renderer_ = vtkRenderer::New();
+      renderer_->AddActor( prop_ );
+      renderer_->SetBackground( 0.1, 0.2, 0.4 );
+      renderer_->SetViewport(0.0, 0.0, 1.0, 1.0);
+
+      win_->AddRenderer( renderer_ );
+    }
+
+    RangeViewer::~RangeViewer ()
+    {
+      renderer_->Delete();
+      prop_->Delete();
+    }
+  }
+}
+
+class RangeVisualization
+{
+  public:
+    RangeVisualization ();
+
+    void
+    spin ();
+
+    void
+    on_keyboard (const pcl::visualization::KeyboardEvent& event);
+
+    void
+    on_mouse (const pcl::visualization::MouseEvent& event);
+
+  private:
+    boost::shared_ptr<pcl::simulation::RangeViewer> viewer_;
+};
+
+RangeVisualization::RangeVisualization ()
+{
+  viewer_.reset (new pcl::simulation::RangeViewer ("Range Simulation"));
+  viewer_->registerMouseCallback (boost::bind (&RangeVisualization::on_mouse, this, _1));
+  viewer_->registerKeyboardCallback (boost::bind (&RangeVisualization::on_keyboard, this, _1));
+}
+
+void
+RangeVisualization::on_keyboard (const pcl::visualization::KeyboardEvent& event)
+{
+}
+
+void
+RangeVisualization::on_mouse (const pcl::visualization::MouseEvent& event)
+{
+}
+
+void
+RangeVisualization::spin ()
+{
+  viewer_->spin ();
+}
+
+int
+main (int argc, char** argv)
+{
+  RangeVisualization range_viz;
+  range_viz.spin ();
+
+  return 0;
+}
+