自学教程：C++ viewer函数代码示例

intmain (int argc, char** argv){    if (argc < 2) {        std::cerr << "Usage: " << argv[0] << " [PCD file] [-s smoothness] [-c curvature] [-n neighbors]" << std::endl;        return 1;    }    const char *filename = argv[1];    double smoothness = 7.0 / 180.0 * M_PI;    double curvature = 1.0;    int neighbors = 30;    for (int i=2; i<argc; i++) {        if (strcmp(argv[i], "-s")==0) {            smoothness = atof(argv[++i])/180.0*M_PI;        } else if(strcmp(argv[i], "-c")==0) {            curvature = atof(argv[++i]);        } else if(strcmp(argv[i], "-n")==0) {            neighbors = atoi(argv[++i]);        }    }    std::cout << "smoothness = " << smoothness*180.0/M_PI << "[deg]" << std::endl;    std::cout << "curvature = " << curvature << std::endl;    std::cout << "neighbors = " << neighbors << std::endl;    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);    pcl::PCDReader reader;    reader.read (filename, *cloud);    int npoint = cloud->points.size();    std::cout << "npoint = " << npoint << std::endl;    pcl::search::Search<pcl::PointXYZ>::Ptr tree = boost::shared_ptr<pcl::search::Search<pcl::PointXYZ> > (new pcl::search::KdTree<pcl::PointXYZ>);    pcl::PointCloud <pcl::Normal>::Ptr normals (new pcl::PointCloud <pcl::Normal>);    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimator;    normal_estimator.setSearchMethod (tree);    normal_estimator.setInputCloud (cloud);    normal_estimator.setKSearch (50);    normal_estimator.compute (*normals);    pcl::IndicesPtr indices (new std::vector <int>);    pcl::PassThrough<pcl::PointXYZ> pass;    pass.setInputCloud (cloud);    pass.setFilterFieldName ("z");    pass.setFilterLimits (0.0, 1.0);    pass.filter (*indices);    pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;    reg.setMinClusterSize (100);    reg.setMaxClusterSize (10000);    reg.setSearchMethod (tree);    reg.setNumberOfNeighbours (neighbors);    reg.setInputCloud (cloud);    //reg.setIndices (indices);    reg.setInputNormals (normals);    reg.setSmoothnessThreshold (smoothness);    reg.setCurvatureThreshold (curvature);    std::vector <pcl::PointIndices> clusters;    reg.extract (clusters);    std::cout << "Number of clusters is equal to " << clusters.size () << std::endl;    std::cout << "First cluster has " << clusters[0].indices.size () << " points." << endl;    std::cout << "These are the indices of the points of the initial" <<              std::endl << "cloud that belong to the first cluster:" << std::endl;    int counter = 0;    while (counter < 5 || counter > clusters[0].indices.size ())    {        std::cout << clusters[0].indices[counter] << std::endl;        counter++;    }    pcl::PointCloud <pcl::PointXYZRGB>::Ptr colored_cloud = reg.getColoredCloud ();    pcl::visualization::CloudViewer viewer ("Cluster viewer");    viewer.showCloud(colored_cloud);    while (!viewer.wasStopped ())    {    }    return (0);}

// --------------// -----Main-----// --------------intmain (int argc, char** argv){    // --------------------------------------    // -----Parse Command Line Arguments-----    // --------------------------------------    if (pcl::console::find_argument (argc, argv, "-h") >= 0)    {        printUsage (argv[0]);        return 0;    }    if (pcl::console::find_argument (argc, argv, "-m") >= 0)    {        setUnseenToMaxRange = true;        cout << "Setting unseen values in range image to maximum range readings./n";    }    if (pcl::console::parse (argc, argv, "-o", rotation_invariant) >= 0)        cout << "Switching rotation invariant feature version "<< (rotation_invariant ? "on" : "off")<<"./n";    int tmp_coordinate_frame;    if (pcl::console::parse (argc, argv, "-c", tmp_coordinate_frame) >= 0)    {        coordinate_frame = pcl::RangeImage::CoordinateFrame (tmp_coordinate_frame);        cout << "Using coordinate frame "<< (int)coordinate_frame<<"./n";    }    if (pcl::console::parse (argc, argv, "-s", support_size) >= 0)        cout << "Setting support size to "<<support_size<<"./n";    if (pcl::console::parse (argc, argv, "-r", angular_resolution) >= 0)        cout << "Setting angular resolution to "<<angular_resolution<<"deg./n";    angular_resolution = pcl::deg2rad (angular_resolution);    // ------------------------------------------------------------------    // -----Read pcd file or create example point cloud if not given-----    // ------------------------------------------------------------------    pcl::PointCloud<PointType>::Ptr point_cloud_ptr (new pcl::PointCloud<PointType>);    pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;    pcl::PointCloud<pcl::PointWithViewpoint> far_ranges;    Eigen::Affine3f scene_sensor_pose (Eigen::Affine3f::Identity ());    std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument (argc, argv, "pcd");    if (!pcd_filename_indices.empty ())    {        std::string filename = argv[pcd_filename_indices[0]];        if (pcl::io::loadPCDFile (filename, point_cloud) == -1)        {            cerr << "Was not able to open file /""<<filename<<"/"./n";            printUsage (argv[0]);            return 0;        }        scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f (point_cloud.sensor_origin_[0],                                             point_cloud.sensor_origin_[1],                                             point_cloud.sensor_origin_[2])) *                            Eigen::Affine3f (point_cloud.sensor_orientation_);        std::string far_ranges_filename = pcl::getFilenameWithoutExtension (filename)+"_far_ranges.pcd";        if (pcl::io::loadPCDFile (far_ranges_filename.c_str (), far_ranges) == -1)            std::cout << "Far ranges file /""<<far_ranges_filename<<"/" does not exists./n";    }    else    {        setUnseenToMaxRange = true;        cout << "/nNo *.pcd file given => Genarating example point cloud./n/n";        for (float x=-0.5f; x<=0.5f; x+=0.01f)        {            for (float y=-0.5f; y<=0.5f; y+=0.01f)            {                PointType point;                point.x = x;                point.y = y;                point.z = 2.0f - y;                point_cloud.points.push_back (point);            }        }        point_cloud.width = (int) point_cloud.points.size ();        point_cloud.height = 1;    }    // -----------------------------------------------    // -----Create RangeImage from the PointCloud-----    // -----------------------------------------------    float noise_level = 0.0;    float min_range = 0.0f;    int border_size = 1;    boost::shared_ptr<pcl::RangeImage> range_image_ptr (new pcl::RangeImage);    pcl::RangeImage& range_image = *range_image_ptr;    range_image.createFromPointCloud (point_cloud, angular_resolution, pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),                                      scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);    range_image.integrateFarRanges (far_ranges);    if (setUnseenToMaxRange)        range_image.setUnseenToMaxRange ();    // --------------------------------------------    // -----Open 3D viewer and add point cloud-----    // --------------------------------------------    pcl::visualization::PCLVisualizer viewer ("3D Viewer");    viewer.setBackgroundColor (1, 1, 1);    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);    viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");    //viewer.addCoordinateSystem (1.0f);//.........这里部分代码省略.........

//.........这里部分代码省略.........    cout << "-----------------" << endl << endl;  }  /**   * Hypothesis Verification   */  cout << "--- Hypotheses Verification ---" << endl;  std::vector<bool> hypotheses_mask;  // Mask Vector to identify positive hypotheses  pcl::GlobalHypothesesVerification<PointType, PointType> GoHv;  GoHv.setSceneCloud (scene);  // Scene Cloud  GoHv.addModels (registered_instances, true);  //Models to verify  GoHv.setInlierThreshold (hv_inlier_th_);  GoHv.setOcclusionThreshold (hv_occlusion_th_);  GoHv.setRegularizer (hv_regularizer_);  GoHv.setRadiusClutter (hv_rad_clutter_);  GoHv.setClutterRegularizer (hv_clutter_reg_);  GoHv.setDetectClutter (hv_detect_clutter_);  GoHv.setRadiusNormals (hv_rad_normals_);  GoHv.verify ();  GoHv.getMask (hypotheses_mask);  // i-element TRUE if hvModels[i] verifies hypotheses  for (int i = 0; i < hypotheses_mask.size (); i++)  {    if (hypotheses_mask[i])    {      cout << "Instance " << i << " is GOOD! <---" << endl;    }    else    {      cout << "Instance " << i << " is bad!" << endl;    }  }  cout << "-------------------------------" << endl;  /**   *  Visualization   */  pcl::visualization::PCLVisualizer viewer ("Hypotheses Verification");  viewer.addPointCloud (scene, "scene_cloud");  pcl::PointCloud<PointType>::Ptr off_scene_model (new pcl::PointCloud<PointType> ());  pcl::PointCloud<PointType>::Ptr off_scene_model_keypoints (new pcl::PointCloud<PointType> ());  pcl::PointCloud<PointType>::Ptr off_model_good_kp (new pcl::PointCloud<PointType> ());  pcl::transformPointCloud (*model, *off_scene_model, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));  pcl::transformPointCloud (*model_keypoints, *off_scene_model_keypoints, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));  pcl::transformPointCloud (*model_good_kp, *off_model_good_kp, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));  if (show_keypoints_)  {    CloudStyle modelStyle = style_white;    pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_color_handler (off_scene_model, modelStyle.r, modelStyle.g, modelStyle.b);    viewer.addPointCloud (off_scene_model, off_scene_model_color_handler, "off_scene_model");    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, modelStyle.size, "off_scene_model");  }  if (show_keypoints_)  {    CloudStyle goodKeypointStyle = style_violet;    pcl::visualization::PointCloudColorHandlerCustom<PointType> model_good_keypoints_color_handler (off_model_good_kp, goodKeypointStyle.r, goodKeypointStyle.g,                                                                                                    goodKeypointStyle.b);    viewer.addPointCloud (off_model_good_kp, model_good_keypoints_color_handler, "model_good_keypoints");    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, goodKeypointStyle.size, "model_good_keypoints");    pcl::visualization::PointCloudColorHandlerCustom<PointType> scene_good_keypoints_color_handler (scene_good_kp, goodKeypointStyle.r, goodKeypointStyle.g,                                                                                                    goodKeypointStyle.b);    viewer.addPointCloud (scene_good_kp, scene_good_keypoints_color_handler, "scene_good_keypoints");    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, goodKeypointStyle.size, "scene_good_keypoints");  }  for (size_t i = 0; i < instances.size (); ++i)  {    std::stringstream ss_instance;    ss_instance << "instance_" << i;    CloudStyle clusterStyle = style_red;    pcl::visualization::PointCloudColorHandlerCustom<PointType> instance_color_handler (instances[i], clusterStyle.r, clusterStyle.g, clusterStyle.b);    viewer.addPointCloud (instances[i], instance_color_handler, ss_instance.str ());    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, clusterStyle.size, ss_instance.str ());    CloudStyle registeredStyles = hypotheses_mask[i] ? style_green : style_cyan;    ss_instance << "_registered" << endl;    pcl::visualization::PointCloudColorHandlerCustom<PointType> registered_instance_color_handler (registered_instances[i], registeredStyles.r,                                                                                                   registeredStyles.g, registeredStyles.b);    viewer.addPointCloud (registered_instances[i], registered_instance_color_handler, ss_instance.str ());    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, registeredStyles.size, ss_instance.str ());  }  while (!viewer.wasStopped ())  {    viewer.spinOnce ();  }  return (0);}

int main( int argc, char** argv ){    // use an ArgumentParser object to manage the program arguments.    osg::ArgumentParser arguments( &argc, argv );    arguments.getApplicationUsage()->setApplicationName( arguments.getApplicationName() );    arguments.getApplicationUsage()->setDescription( arguments.getApplicationName() + " is the standard OpenSceneGraph example which loads and visualises 3d models." );    arguments.getApplicationUsage()->setCommandLineUsage( arguments.getApplicationName() + " [options] filename ..." );    arguments.getApplicationUsage()->addCommandLineOption( "--image <filename>", "Load an image and render it on a quad" );    arguments.getApplicationUsage()->addCommandLineOption( "--dem <filename>", "Load an image/DEM and render it on a HeightField" );    arguments.getApplicationUsage()->addCommandLineOption( "--login <url> <username> <password>", "Provide authentication information for http file access." );    osgViewer::Viewer viewer( arguments );    unsigned int helpType = 0;    if ( ( helpType = arguments.readHelpType() ) )    {        arguments.getApplicationUsage()->write( std::cout, helpType );        return 1;    }    // report any errors if they have occurred when parsing the program arguments.    if ( arguments.errors() )    {        arguments.writeErrorMessages( std::cout );        return 1;    }    if ( arguments.argc() <= 1 )    {        arguments.getApplicationUsage()->write( std::cout, osg::ApplicationUsage::COMMAND_LINE_OPTION );        return 1;    }    std::string url, username, password;    while( arguments.read( "--login", url, username, password ) )    {        if ( !osgDB::Registry::instance()->getAuthenticationMap() )        {            osgDB::Registry::instance()->setAuthenticationMap( new osgDB::AuthenticationMap );            osgDB::Registry::instance()->getAuthenticationMap()->addAuthenticationDetails(                url,                new osgDB::AuthenticationDetails( username, password )            );        }    }    // set up the camera manipulators.    {        osg::ref_ptr<osgGA::KeySwitchMatrixManipulator> keyswitchManipulator = new osgGA::KeySwitchMatrixManipulator;        keyswitchManipulator->addMatrixManipulator( '1', "Trackball", new osgGA::TrackballManipulator() );        keyswitchManipulator->addMatrixManipulator( '2', "Flight", new osgGA::FlightManipulator() );        keyswitchManipulator->addMatrixManipulator( '3', "Drive", new osgGA::DriveManipulator() );        keyswitchManipulator->addMatrixManipulator( '4', "Terrain", new osgGA::TerrainManipulator() );        keyswitchManipulator->addMatrixManipulator( '5', "Orbit", new osgGA::OrbitManipulator() );        keyswitchManipulator->addMatrixManipulator( '6', "FirstPerson", new osgGA::FirstPersonManipulator() );        keyswitchManipulator->addMatrixManipulator( '7', "Spherical", new osgGA::SphericalManipulator() );        std::string pathfile;        double animationSpeed = 1.0;        while( arguments.read( "--speed", animationSpeed ) ) {}        char keyForAnimationPath = '8';        while ( arguments.read( "-p", pathfile ) )        {            osgGA::AnimationPathManipulator* apm = new osgGA::AnimationPathManipulator( pathfile );            if ( apm || !apm->valid() )            {                apm->setTimeScale( animationSpeed );                unsigned int num = keyswitchManipulator->getNumMatrixManipulators();                keyswitchManipulator->addMatrixManipulator( keyForAnimationPath, "Path", apm );                keyswitchManipulator->selectMatrixManipulator( num );                ++keyForAnimationPath;            }        }        viewer.setCameraManipulator( keyswitchManipulator.get() );    }    // add the state manipulator    viewer.addEventHandler( new osgGA::StateSetManipulator( viewer.getCamera()->getOrCreateStateSet() ) );    // add the thread model handler    viewer.addEventHandler( new osgViewer::ThreadingHandler );    // add the window size toggle handler    viewer.addEventHandler( new osgViewer::WindowSizeHandler );    // add the stats handler    viewer.addEventHandler( new osgViewer::StatsHandler );    // add the help handler    viewer.addEventHandler( new osgViewer::HelpHandler( arguments.getApplicationUsage() ) );    // add the record camera path handler    viewer.addEventHandler( new osgViewer::RecordCameraPathHandler );    // add the LOD Scale handler    viewer.addEventHandler( new osgViewer::LODScaleHandler );//.........这里部分代码省略.........

intmain(int argc, const char **argv) {  const char *me;  char *err;  hestOpt *hopt=NULL;  hestParm *hparm;  airArray *mop;  /* variables learned via hest */  Nrrd *nin;  float camfr[3], camat[3], camup[3], camnc, camfc, camFOV;  int camortho, hitandquit;  unsigned int camsize[2];  double isovalue, sliso, isomin, isomax;  /* boilerplate hest code */  me = argv[0];  mop = airMopNew();  hparm = hestParmNew();  hparm->respFileEnable = AIR_TRUE;  airMopAdd(mop, hparm, (airMopper)hestParmFree, airMopAlways);  /* setting up the command-line options */  hparm->respFileEnable = AIR_TRUE;  hestOptAdd(&hopt, "i", "volume", airTypeOther, 1, 1, &nin, NULL,             "input volume to isosurface", NULL, NULL, nrrdHestNrrd);  hestOptAdd(&hopt, "v", "isovalue", airTypeDouble, 1, 1, &isovalue, "nan",             "isovalue at which to run Marching Cubes");  hestOptAdd(&hopt, "fr", "x y z", airTypeFloat, 3, 3, camfr, "3 4 5",             "look-from point");  hestOptAdd(&hopt, "at", "x y z", airTypeFloat, 3, 3, camat, "0 0 0",             "look-at point");  hestOptAdd(&hopt, "up", "x y z", airTypeFloat, 3, 3, camup, "0 0 1",             "up direction");  hestOptAdd(&hopt, "nc", "dist", airTypeFloat, 1, 1, &(camnc), "-2",             "at-relative near clipping distance");  hestOptAdd(&hopt, "fc", "dist", airTypeFloat, 1, 1, &(camfc), "2",             "at-relative far clipping distance");  hestOptAdd(&hopt, "fov", "angle", airTypeFloat, 1, 1, &(camFOV), "20",             "vertical field-of-view, in degrees. Full vertical "             "extent of image plane subtends this angle.");  hestOptAdd(&hopt, "sz", "s0 s1", airTypeUInt, 2, 2, &(camsize), "640 480",             "# samples (horz vert) of image plane. ");  hestOptAdd(&hopt, "ortho", NULL, airTypeInt, 0, 0, &(camortho), NULL,             "use orthographic instead of (the default) "             "perspective projection ");  hestOptAdd(&hopt, "haq", NULL, airTypeBool, 0, 0, &(hitandquit), NULL,             "save a screenshot rather than display the viewer");  hestParseOrDie(hopt, argc-1, argv+1, hparm,                 me, "demo program", AIR_TRUE, AIR_TRUE, AIR_TRUE);  airMopAdd(mop, hopt, (airMopper)hestOptFree, airMopAlways);  airMopAdd(mop, hopt, (airMopper)hestParseFree, airMopAlways);  /* learn value range, and set initial isovalue if needed */  NrrdRange *range = nrrdRangeNewSet(nin, AIR_FALSE);  airMopAdd(mop, range, (airMopper)nrrdRangeNix, airMopAlways);  isomin = range->min;  isomax = range->max;  if (!AIR_EXISTS(isovalue)) {    isovalue = (isomin + isomax)/2;  }  /* first, make sure we can isosurface ok */  limnPolyData *lpld = limnPolyDataNew();  seekContext *sctx = seekContextNew();  airMopAdd(mop, sctx, (airMopper)seekContextNix, airMopAlways);  sctx->pldArrIncr = nrrdElementNumber(nin);  seekVerboseSet(sctx, 0);  seekNormalsFindSet(sctx, AIR_TRUE);  if (seekDataSet(sctx, nin, NULL, 0)      || seekTypeSet(sctx, seekTypeIsocontour)      || seekIsovalueSet(sctx, isovalue)      || seekUpdate(sctx)      || seekExtract(sctx, lpld)) {    airMopAdd(mop, err=biffGetDone(SEEK), airFree, airMopAlways);    fprintf(stderr, "trouble with isosurfacing:/n%s", err);    airMopError(mop);    return 1;  }  if (!lpld->xyzwNum) {    fprintf(stderr, "%s: warning: No isocontour generated at isovalue %g/n",            me, isovalue);  }  /* then create empty scene */  Hale::init();  Hale::Scene scene;  /* then create viewer (in order to create the OpenGL context) */  Hale::Viewer viewer(camsize[0], camsize[1], "Iso", &scene);  viewer.lightDir(glm::vec3(-1.0f, 1.0f, 3.0f));  viewer.camera.init(glm::vec3(camfr[0], camfr[1], camfr[2]),                     glm::vec3(camat[0], camat[1], camat[2]),                     glm::vec3(camup[0], camup[1], camup[2]),                     camFOV, (float)camsize[0]/camsize[1],                     camnc, camfc, camortho);  viewer.refreshCB((Hale::ViewerRefresher)render);  viewer.refreshData(&viewer);  sliso = isovalue;  viewer.slider(&sliso, isomin, isomax);  viewer.current();//.........这里部分代码省略.........

int main (int argc, char** argv){    if(argc<2){ 	  std::cout << "need ply/pcd file. " << std::endl;          return -1;	}    // 确定文件格式    char tmpStr[100];    strcpy(tmpStr,argv[1]);    char* pext = strrchr(tmpStr, '.');    std::string extply("ply");    std::string extpcd("pcd");    if(pext){        *pext='/0';        pext++;    }    std::string ext(pext);    //如果不支持文件格式，退出程序    if (!((ext == extply)||(ext == extpcd))){        std::cout << "文件格式不支持!" << std::endl;        std::cout << "支持文件格式：*.pcd和*.ply！" << std::endl;        return(-1);    }    //根据文件格式选择输入方式  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>) ; //创建点云对象指针，用于存储输入    if (ext == extply){        if (pcl::io::loadPLYFile(argv[1] , *cloud) == -1){            PCL_ERROR("Could not read ply file!/n") ;            return -1;        }    }    else{        if (pcl::io::loadPCDFile(argv[1] , *cloud) == -1){            PCL_ERROR("Could not read pcd file!/n") ;            return -1;        }    }  // 估计法向量 x,y,x + 法向量　+　曲率  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;  pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);  tree->setInputCloud(cloud);  n.setInputCloud(cloud);  n.setSearchMethod(tree);  n.setKSearch(20);//20个邻居  n.compute (*normals); //计算法线，结果存储在normals中  //* normals 不能同时包含点的法向量和表面的曲率  //将点云和法线放到一起  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);  pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);  //* cloud_with_normals = cloud + normals  //创建搜索树  pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);  tree2->setInputCloud (cloud_with_normals);  //初始化 移动立方体算法 MarchingCubes对象，并设置参数    pcl::MarchingCubes<pcl::PointNormal> *mc;    mc = new pcl::MarchingCubesHoppe<pcl::PointNormal> ();    /*  if (hoppe_or_rbf == 0)    mc = new pcl::MarchingCubesHoppe<pcl::PointNormal> ();  else  {    mc = new pcl::MarchingCubesRBF<pcl::PointNormal> ();    (reinterpret_cast<pcl::MarchingCubesRBF<pcl::PointNormal>*> (mc))->setOffSurfaceDisplacement (off_surface_displacement);  }    */    //创建多变形网格，用于存储结果  pcl::PolygonMesh mesh;  //设置MarchingCubes对象的参数  mc->setIsoLevel (0.0f);  mc->setGridResolution (50, 50, 50);  mc->setPercentageExtendGrid (0.0f);  //设置搜索方法  mc->setInputCloud (cloud_with_normals);  //执行重构，结果保存在mesh中  mc->reconstruct (mesh);  //保存网格图  pcl::io::savePLYFile("result2.ply", mesh);  // 显示结果图  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));  viewer->setBackgroundColor (0, 0, 0); //设置背景  viewer->addPolygonMesh(mesh,"my"); //设置显示的网格  //viewer->addCoordinateSystem (1.0); //设置坐标系  viewer->initCameraParameters ();  while (!viewer->wasStopped ()){    viewer->spinOnce (100);    boost::this_thread::sleep (boost::posix_time::microseconds (100000));  }//.........这里部分代码省略.........

//.........这里部分代码省略.........    clusterer.recognize (rototranslations, clustered_corrs);  }  else // Using GeometricConsistency  {    pcl::GeometricConsistencyGrouping<PointType, PointType> gc_clusterer;    gc_clusterer.setGCSize (cg_size_);    gc_clusterer.setGCThreshold (cg_thresh_);    gc_clusterer.setInputCloud (model_keypoints);    gc_clusterer.setSceneCloud (scene_keypoints);    gc_clusterer.setModelSceneCorrespondences (model_scene_corrs);    //gc_clusterer.cluster (clustered_corrs);    gc_clusterer.recognize (rototranslations, clustered_corrs);  }  //  //  Output results  //  std::cout << "Model instances found: " << rototranslations.size () << std::endl;  for (size_t i = 0; i < rototranslations.size (); ++i)  {    std::cout << "/n    Instance " << i + 1 << ":" << std::endl;    std::cout << "        Correspondences belonging to this instance: " << clustered_corrs[i].size () << std::endl;    // Print the rotation matrix and translation vector    Eigen::Matrix3f rotation = rototranslations[i].block<3,3>(0, 0);    Eigen::Vector3f translation = rototranslations[i].block<3,1>(0, 3);    printf ("/n");    printf ("            | %6.3f %6.3f %6.3f | /n", rotation (0,0), rotation (0,1), rotation (0,2));    printf ("        R = | %6.3f %6.3f %6.3f | /n", rotation (1,0), rotation (1,1), rotation (1,2));    printf ("            | %6.3f %6.3f %6.3f | /n", rotation (2,0), rotation (2,1), rotation (2,2));    printf ("/n");    printf ("        t = < %0.3f, %0.3f, %0.3f >/n", translation (0), translation (1), translation (2));  }  //  //  Visualization  //  pcl::visualization::PCLVisualizer viewer ("Correspondence Grouping");  viewer.addPointCloud (scene, "scene_cloud");  pcl::PointCloud<PointType>::Ptr off_scene_model (new pcl::PointCloud<PointType> ());  pcl::PointCloud<PointType>::Ptr off_scene_model_keypoints (new pcl::PointCloud<PointType> ());  if (show_correspondences_ || show_keypoints_)  {    //  We are translating the model so that it doesn't end in the middle of the scene representation    pcl::transformPointCloud (*model, *off_scene_model, Eigen::Vector3f (-1,0,0), Eigen::Quaternionf (1, 0, 0, 0));    pcl::transformPointCloud (*model_keypoints, *off_scene_model_keypoints, Eigen::Vector3f (-1,0,0), Eigen::Quaternionf (1, 0, 0, 0));    pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_color_handler (off_scene_model, 255, 255, 128);    viewer.addPointCloud (off_scene_model, off_scene_model_color_handler, "off_scene_model");  }  if (show_keypoints_)  {    pcl::visualization::PointCloudColorHandlerCustom<PointType> scene_keypoints_color_handler (scene_keypoints, 0, 0, 255);    viewer.addPointCloud (scene_keypoints, scene_keypoints_color_handler, "scene_keypoints");    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "scene_keypoints");    pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_keypoints_color_handler (off_scene_model_keypoints, 0, 0, 255);    viewer.addPointCloud (off_scene_model_keypoints, off_scene_model_keypoints_color_handler, "off_scene_model_keypoints");    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "off_scene_model_keypoints");  }  for (size_t i = 0; i < rototranslations.size (); ++i)  {    pcl::PointCloud<PointType>::Ptr rotated_model (new pcl::PointCloud<PointType> ());    pcl::transformPointCloud (*model, *rotated_model, rototranslations[i]);    std::stringstream ss_cloud;    ss_cloud << "instance" << i;    pcl::visualization::PointCloudColorHandlerCustom<PointType> rotated_model_color_handler (rotated_model, 255, 0, 0);    viewer.addPointCloud (rotated_model, rotated_model_color_handler, ss_cloud.str ());    if (show_correspondences_)    {      for (size_t j = 0; j < clustered_corrs[i].size (); ++j)      {        std::stringstream ss_line;        ss_line << "correspondence_line" << i << "_" << j;        PointType& model_point = off_scene_model_keypoints->at (clustered_corrs[i][j].index_query);        PointType& scene_point = scene_keypoints->at (clustered_corrs[i][j].index_match);        //  We are drawing a line for each pair of clustered correspondences found between the model and the scene        viewer.addLine<PointType, PointType> (model_point, scene_point, 0, 255, 0, ss_line.str ());      }    }  }  while (!viewer.wasStopped ())  {    viewer.spinOnce ();  }  return (0);}

int main( int argc, char** argv ){	// use an ArgumentParser object to manage the program arguments.	osg::ArgumentParser arguments(&argc, argv);	// read the scene from the list of file specified command line arguments.	osg::ref_ptr<osg::Node> loadedModel = osgDB::readNodeFiles(arguments);	// if not loaded assume no arguments passed in, try use default cow model instead.	if (!loadedModel) { loadedModel = osgDB::readNodeFile("cow.osgt"); }	// Still no loaded model, then exit	if (!loadedModel)	{		osg::notify(osg::ALWAYS) << "No model could be loaded and didn't find cow.osgt, terminating.." << std::endl;		return 0;	}	// Create Trackball manipulator	osg::ref_ptr<osgGA::CameraManipulator> cameraManipulator = new osgGA::TrackballManipulator;	const osg::BoundingSphere& bs = loadedModel->getBound();	if (bs.valid())	{		// Adjust view to object view      /* This caused a problem with the head tracking on the Vive		osg::Vec3 modelCenter = bs.center();		osg::Vec3 eyePos = bs.center() + osg::Vec3(0, bs.radius(), 0);		cameraManipulator->setHomePosition(eyePos, modelCenter, osg::Vec3(0, 0, 1));      */	}	// Exit if we do not have an HMD present	if (!OpenVRDevice::hmdPresent())	{		osg::notify(osg::FATAL) << "Error: No valid HMD present!" << std::endl;		return 1;	}	// Open the HMD	float nearClip = 0.01f;	float farClip = 10000.0f;	float worldUnitsPerMetre = 1.0f;	int samples = 4;	osg::ref_ptr<OpenVRDevice> openvrDevice = new OpenVRDevice(nearClip, farClip, worldUnitsPerMetre, samples);	// Exit if we fail to initialize the HMD device	if (!openvrDevice->hmdInitialized())	{		// The reason for failure was reported by the constructor.		return 1;	}	// Get the suggested context traits	osg::ref_ptr<osg::GraphicsContext::Traits> traits = openvrDevice->graphicsContextTraits();	traits->windowName = "OsgOpenVRViewerExample";	// Create a graphic context based on our desired traits	osg::ref_ptr<osg::GraphicsContext> gc = osg::GraphicsContext::createGraphicsContext(traits);	if (!gc)	{		osg::notify(osg::NOTICE) << "Error, GraphicsWindow has not been created successfully" << std::endl;		return 1;	}	if (gc.valid())	{		gc->setClearColor(osg::Vec4(0.2f, 0.2f, 0.4f, 1.0f));		gc->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);	}	GraphicsWindowViewer viewer(arguments, dynamic_cast<osgViewer::GraphicsWindow*>(gc.get()));	// Force single threaded to make sure that no other thread can use the GL context	viewer.setThreadingModel(osgViewer::Viewer::SingleThreaded);	viewer.getCamera()->setGraphicsContext(gc);	viewer.getCamera()->setViewport(0, 0, traits->width, traits->height);	// Disable automatic computation of near and far plane	viewer.getCamera()->setComputeNearFarMode(osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR);	viewer.setCameraManipulator(cameraManipulator);	// Things to do when viewer is realized	osg::ref_ptr<OpenVRRealizeOperation> openvrRealizeOperation = new OpenVRRealizeOperation(openvrDevice);	viewer.setRealizeOperation(openvrRealizeOperation.get());	osg::ref_ptr<OpenVRViewer> openvrViewer = new OpenVRViewer(&viewer, openvrDevice, openvrRealizeOperation);	openvrViewer->addChild(loadedModel);	viewer.setSceneData(openvrViewer);	// Add statistics handler	viewer.addEventHandler(new osgViewer::StatsHandler);	viewer.addEventHandler(new OpenVREventHandler(openvrDevice));	viewer.run();	// Need to do this here to make it happen before destruction of the OSG Viewer, which destroys the OpenGL context.	openvrDevice->shutdown(gc.get());	return 0;//.........这里部分代码省略.........

	viewer_rt::viewer_rt (){		//Inicialization			i = 0;						key = 10;			num_semaphore = 6;						act = 0;			run = true;			turn_on = false;			turn_view = 0;						v1 = 0; 			v2 = 0; 			v3 = 0; 			v4 = 0;			obj1 = 0; 			obj2 = 0; 			obj3 = 0;										//Make semaphore			if((semid = semget(key,num_semaphore,IPC_CREAT|0600)) == -1)				std::cout << "[WIEWER_RT] ERROR CREATING SEMAPHORE" << std::endl;						operation.sem_flg = 0;															//Initialze semaphore			semctl(semid,WRITE_PCD,SETVAL,1);			semctl(semid,REQUEST_LOAD_CLOUD,SETVAL,0);			semctl(semid,5,SETVAL,0);							//Make and set pipes			if (pipe(pipe_flags) == -1)				std::cout << "[WIEWER_RT] ERROR CREATING THE PRINCIPAL PIPE" << std::endl;			if (pipe(pipe_cloud) == -1)				std::cout << "[WIEWER_RT] ERROR CREATING THE SECOND PIPE" << std::endl;										//Fork the execcution						pid = fork();			vector_pid.push_back(pid);			name_process.push_back("VIEWER_RT");									if (pid == -1)      				std::cout << "[VIEWER_RT] ERROR MAKING FORK" << std::endl;																		//Child execution (paralel to the principal proccess)			else if (pid == 0) 			{									pcl::visualization::PCLVisualizer viewer ("vista 3D");				viewer.setSize(1360,768);																				//Configure viewer				viewer.initCameraParameters ();								/*				//( xmin , ymin, xmax , ymax, viewport )//				//two windows				//viewer.createViewPort(0.0, 0.5, 1, 1, v1);				//viewer.createViewPort(0.0, 0.0, 1, 0.5, v2);								//three windows (A)				//viewer.createViewPort(0.0, 0.66, 1, 1, v1);				//viewer.createViewPort(0.0, 0.33, 1, 0.66, v2);				//viewer.createViewPort(0.0, 0.0, 1, 0.33, v3);						//three windows (B)				//viewer.createViewPort(0, 0.5, 1, 1, v1);								//viewer.createViewPort(0, 0, 0.5, 0.5, v2);				//viewer.createViewPort(0.5, 0, 1, 0.5, v3);				//viewer.setBackgroundColor (255, 255, 255);				//viewer.createViewPort(0, 0, 1, 1, v1);								//four windows				//viewer.createViewPort(0.0, 0.5, 0.5, 1.0, v1);				//viewer.createViewPort(0.5, 0.5, 1, 1, v2);//.........这里部分代码省略.........

int main( int argc, char** argv ){	float nearClip = 0.01f;	float farClip = 10000.0f;	float pixelsPerDisplayPixel = 1.0;	bool useTimewarp = true;	osg::ref_ptr<OculusDevice> oculusDevice = new OculusDevice(nearClip, farClip, pixelsPerDisplayPixel, useTimewarp);	// use an ArgumentParser object to manage the program arguments.	osg::ArgumentParser arguments(&argc,argv);	// read the scene from the list of file specified command line arguments.	osg::ref_ptr<osg::Node> loadedModel = osgDB::readNodeFiles(arguments);	// if not loaded assume no arguments passed in, try use default cow model instead.	if (!loadedModel) loadedModel = osgDB::readNodeFile("cow.osgt");	// Still no loaded model, then exit	if (!loadedModel) return 0;	// Calculate the texture size	const int textureWidth = oculusDevice->renderTargetWidth()/2;	const int textureHeight = oculusDevice->renderTargetHeight();	// Setup textures for the RTT cameras	osg::ref_ptr<osg::Texture2D> textureLeft = new osg::Texture2D;	textureLeft->setTextureSize(textureWidth, textureHeight);	textureLeft->setInternalFormat(GL_RGBA);	osg::ref_ptr<osg::Texture2D> textureRight = new osg::Texture2D;	textureRight->setTextureSize(textureWidth, textureHeight);	textureRight->setInternalFormat(GL_RGBA);	// Initialize RTT cameras for each eye	osg::ref_ptr<osg::Camera> leftEyeRTTCamera = oculusDevice->createRTTCamera(textureLeft, OculusDevice::LEFT, osg::Camera::ABSOLUTE_RF);	leftEyeRTTCamera->setComputeNearFarMode( osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR );	leftEyeRTTCamera->addChild( loadedModel );	osg::ref_ptr<osg::Camera> rightEyeRTTCamera = oculusDevice->createRTTCamera(textureRight, OculusDevice::RIGHT, osg::Camera::ABSOLUTE_RF);	rightEyeRTTCamera->setComputeNearFarMode( osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR );	rightEyeRTTCamera->addChild( loadedModel );	// Create HUD cameras for each eye	osg::ref_ptr<osg::Camera> leftCameraWarp = oculusDevice->createWarpOrthoCamera(0.0, 1.0, 0.0, 1.0);	osg::ref_ptr<osg::Camera> rightCameraWarp = oculusDevice->createWarpOrthoCamera(0.0, 1.0, 0.0, 1.0);	// Create shader program	osg::ref_ptr<osg::Program> program = oculusDevice->createShaderProgram();	// Create distortionMesh for each camera	osg::ref_ptr<osg::Geode> leftDistortionMesh = oculusDevice->distortionMesh(OculusDevice::LEFT, program, 0, 0, textureWidth, textureHeight, true);	leftCameraWarp->addChild(leftDistortionMesh);	osg::ref_ptr<osg::Geode> rightDistortionMesh = oculusDevice->distortionMesh(OculusDevice::RIGHT, program, 0, 0, textureWidth, textureHeight, true);	rightCameraWarp->addChild(rightDistortionMesh);	// Add pre draw camera to handle time warp	leftCameraWarp->setPreDrawCallback(new WarpCameraPreDrawCallback(oculusDevice));	rightCameraWarp->setPreDrawCallback(new WarpCameraPreDrawCallback(oculusDevice));	// Attach shaders to each distortion mesh	osg::ref_ptr<osg::StateSet> leftEyeStateSet = leftDistortionMesh->getOrCreateStateSet();	osg::ref_ptr<osg::StateSet> rightEyeStateSet = rightDistortionMesh->getOrCreateStateSet();	oculusDevice->applyShaderParameters(leftEyeStateSet, program, textureLeft, OculusDevice::LEFT);	oculusDevice->applyShaderParameters(rightEyeStateSet, program, textureRight, OculusDevice::RIGHT);	// Create Trackball manipulator	osg::ref_ptr<osgGA::CameraManipulator> cameraManipulator = new osgGA::TrackballManipulator;	const osg::BoundingSphere& bs = loadedModel->getBound();	if (bs.valid()) {		// Adjust view to object view		cameraManipulator->setHomePosition(osg::Vec3(0, bs.radius()*1.5, 0), osg::Vec3(0, 0, 0), osg::Vec3(0, 0, 1));	}	// Add cameras to groups	osg::ref_ptr<osg::Group> leftRoot = new osg::Group;	osg::ref_ptr<osg::Group> rightRoot = new osg::Group;	leftRoot->addChild(leftEyeRTTCamera);	leftRoot->addChild(leftCameraWarp);	rightRoot->addChild(rightEyeRTTCamera);	rightRoot->addChild(rightCameraWarp);	osg::ref_ptr<osg::GraphicsContext::Traits> traits = oculusDevice->graphicsContextTraits();	osg::ref_ptr<osg::GraphicsContext> gc = osg::GraphicsContext::createGraphicsContext(traits);	// Attach to window, needed for direct mode	oculusDevice->attachToWindow(gc);		// Attach a callback to detect swap	osg::ref_ptr<OculusSwapCallback> swapCallback = new OculusSwapCallback(oculusDevice);	gc->setSwapCallback(swapCallback);	// Create a composite viewer	osgViewer::CompositeViewer viewer(arguments);	// Create views and attach camera groups to them	osg::ref_ptr<osgViewer::View> leftView = new osgViewer::View;	leftView->setName("LeftEyeView");	viewer.addView(leftView);	leftView->setSceneData(leftRoot);	leftView->getCamera()->setName("LeftEyeCamera");	leftView->getCamera()->setClearColor(osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));	leftView->getCamera()->setViewport(new osg::Viewport(0, 0, oculusDevice->screenResolutionWidth() / 2, oculusDevice->screenResolutionHeight()));	leftView->getCamera()->setGraphicsContext(gc);	// Add statistics view to only one view	leftView->addEventHandler(new osgViewer::StatsHandler);//.........这里部分代码省略.........

int main_spark( int argc, char** argv ){    osg::ArgumentParser arguments( &argc, argv );        bool trackingModel = false;    int effectType = 0;        if ( arguments.read("--simple") ) effectType = 0;    else if ( arguments.read("--explosion") ) effectType = 1;    else if ( arguments.read("--fire") ) effectType = 2;    else if ( arguments.read("--rain") ) effectType = 3;    else if ( arguments.read("--smoke") ) effectType = 4;        effectType = 3;    spark::init();    osg::ref_ptr<SparkDrawable> spark = new SparkDrawable;	osg::ref_ptr<osg::Geode> geode = new osg::Geode;	switch ( effectType )    {    case 1:  // Explosion        spark->setBaseSystemCreator( &createExplosion );        spark->addParticleSystem();        spark->setSortParticles( true );        spark->addImage( "explosion", osgDB::readImageFile("data/explosion.bmp"), GL_ALPHA );        spark->addImage( "flash", osgDB::readImageFile("data/flash.bmp"), GL_RGB );        spark->addImage( "spark1", osgDB::readImageFile("data/spark1.bmp"), GL_RGB );        spark->addImage( "spark2", osgDB::readImageFile("data/point.bmp"), GL_ALPHA );        spark->addImage( "wave", osgDB::readImageFile("data/wave.bmp"), GL_RGBA );        break;    case 2:  // Fire        spark->setBaseSystemCreator( /*&createFire*/&fire_creator(2).createFire );        spark->addParticleSystem();        spark->addImage( "fire", osgDB::readImageFile("data/fire2.bmp"), GL_ALPHA );        spark->addImage( "explosion", osgDB::readImageFile("data/explosion.bmp"), GL_ALPHA );        break;    case 3:  // Rain        spark->setBaseSystemCreator( &createRain, true );  // Must use the proto type directly        spark->addImage( "waterdrops", osgDB::readImageFile("data/waterdrops.bmp"), GL_ALPHA );		geode = new osg::Geode;        break;    case 4:  // Smoke        spark->setBaseSystemCreator( &createSmoke );        spark->addParticleSystem();        spark->addImage( "smoke", osgDB::readImageFile("data/smoke.png"), GL_RGBA );        trackingModel = true;        break;    default:  // Simple        spark->setBaseSystemCreator( &createSimpleSystem );        spark->addParticleSystem();        spark->addImage( "flare", osgDB::readImageFile("data/flare.bmp"), GL_ALPHA );        break;    }        geode->addDrawable( spark.get() );    geode->getOrCreateStateSet()->setRenderingHint( osg::StateSet::TRANSPARENT_BIN );    geode->getOrCreateStateSet()->setMode( GL_LIGHTING, osg::StateAttribute::OFF );        osg::ref_ptr<SparkUpdatingHandler> handler = new SparkUpdatingHandler;    handler->addSpark( spark.get() );        osg::ref_ptr<osg::MatrixTransform> model = new osg::MatrixTransform;    model->addChild( osgDB::readNodeFile("glider.osg") );    if ( trackingModel )    {        handler->setTrackee( 0, model.get() );                osg::ref_ptr<osg::AnimationPathCallback> apcb = new osg::AnimationPathCallback;        apcb->setAnimationPath( createAnimationPath(4.0f, 6.0f) );        model->setUpdateCallback( apcb.get() );    }        osg::ref_ptr<osg::Group> root = new osg::Group;    root->addChild( geode.get() );    root->addChild( model.get() );        osgViewer::Viewer viewer(arguments);    viewer.getCamera()->setClearColor( osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f) );    viewer.setSceneData( root.get() );    viewer.addEventHandler( new osgGA::StateSetManipulator(viewer.getCamera()->getOrCreateStateSet()) );    viewer.addEventHandler( new osgViewer::StatsHandler );    viewer.addEventHandler( new osgViewer::WindowSizeHandler );    viewer.addEventHandler( handler.get() );    return viewer.run();}

int main(int argc, char **argv){    // use an ArgumentParser object to manage the program arguments.    osg::ArgumentParser arguments(&argc, argv);    // read the scene from the list of file specified commandline args.    osg::ref_ptr<osg::Node> scene = osgDB::readNodeFiles(arguments);    if (!scene)    {        std::cout << argv[0] << ": requires filename argument." << std::endl;        return 1;    }    // construct the viewer.    osgViewer::CompositeViewer viewer(arguments);    if (arguments.read("-1"))    {        {            osgViewer::View* view = new osgViewer::View;            view->setName("Single view");            view->setSceneData(scene.get());            view->addEventHandler(new osgViewer::StatsHandler);            view->setUpViewAcrossAllScreens();            view->setCameraManipulator(new osgGA::TrackballManipulator);            viewer.addView(view);        }    }    if (arguments.read("-2"))    {        // view one        {            osgViewer::View* view = new osgViewer::View;            view->setName("View one");            viewer.addView(view);            view->setUpViewOnSingleScreen(0);            view->setSceneData(scene.get());            view->setCameraManipulator(new osgGA::TrackballManipulator);            // add the state manipulator            osg::ref_ptr<osgGA::StateSetManipulator> statesetManipulator = new osgGA::StateSetManipulator;            statesetManipulator->setStateSet(view->getCamera()->getOrCreateStateSet());            view->addEventHandler(statesetManipulator.get());        }        // view two        {            osgViewer::View* view = new osgViewer::View;            view->setName("View two");            viewer.addView(view);            view->setUpViewOnSingleScreen(1);            view->setSceneData(scene.get());            view->setCameraManipulator(new osgGA::TrackballManipulator);            view->addEventHandler(new osgViewer::StatsHandler);            // add the handler for doing the picking            view->addEventHandler(new PickHandler());        }    }    if (arguments.read("-3") || viewer.getNumViews() == 0)    {        osg::GraphicsContext::WindowingSystemInterface* wsi = osg::GraphicsContext::getWindowingSystemInterface();        if (!wsi)        {            osg::notify(osg::NOTICE) << "Error, no WindowSystemInterface available, cannot create windows." << std::endl;            return 1;        }        unsigned int width, height;        wsi->getScreenResolution(osg::GraphicsContext::ScreenIdentifier(0), width, height);        osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits;        traits->x = 100;        traits->y = 100;        traits->width = 1000;        traits->height = 800;        traits->windowDecoration = true;        traits->doubleBuffer = true;        traits->sharedContext = 0;        osg::ref_ptr<osg::GraphicsContext> gc = osg::GraphicsContext::createGraphicsContext(traits.get());        if (gc.valid())        {            osg::notify(osg::INFO) << "  GraphicsWindow has been created successfully." << std::endl;            // need to ensure that the window is cleared make sure that the complete window is set the correct colour//.........这里部分代码省略.........

void shot_detector::visualizeICP(){    std::cerr << "verifying" << std::endl;    if (rototranslations.size () <= 0) {        cerr << "*** No instances found! ***" << endl;        return;    } else {        cerr << "Recognized Instances: " << rototranslations.size () << endl << endl;    }    /**       * Generates clouds for each instances found       */    std::vector<pcl::PointCloud<PointType>::ConstPtr> instances;    for (size_t i = 0; i < rototranslations.size (); ++i) {        pcl::PointCloud<PointType>::Ptr rotated_model (new pcl::PointCloud<PointType> ());        pcl::transformPointCloud (*model, *rotated_model, rototranslations[i]);        instances.push_back (rotated_model);    }    std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > final_transforms;    /**       * ICP       */    std::vector<pcl::PointCloud<PointType>::ConstPtr> registered_instances;    if (true) {        cerr << "--- ICP ---------" << endl;        for (size_t i = 0; i < rototranslations.size (); ++i) {            pcl::IterativeClosestPoint<PointType, PointType> icp;            icp.setMaximumIterations (icp_max_iter_);            icp.setMaxCorrespondenceDistance (icp_corr_distance_);            icp.setInputTarget (scene);            icp.setInputSource (instances[i]);            pcl::PointCloud<PointType>::Ptr registered (new pcl::PointCloud<PointType>);            icp.align (*registered);            icp.setMaxCorrespondenceDistance (.01);            icp.align (*registered);            icp.setMaxCorrespondenceDistance (.005);            icp.align (*registered);            registered_instances.push_back (registered);            std::cerr << rototranslations[i] << std::endl;            final_transforms.push_back(icp.getFinalTransformation());            std::cerr << "answer" << icp.getFinalTransformation()* rototranslations[i] << std::endl;            cerr << "Instance " << i << std::endl;            if (icp.hasConverged ()) {                cerr << "Aligned!" << endl;            } else {                cerr << "Not Aligned!" << endl;            }        }        cerr << "-----------------" << endl << endl;    }    /**       * Hypothesis Verification       */    cerr << "--- Hypotheses Verification ---" << endl;    std::vector<bool> hypotheses_mask;  // Mask Vector to identify positive hypotheses    pcl::GlobalHypothesesVerification<PointType, PointType> GoHv;    GoHv.setSceneCloud (scene);  // Scene Cloud    GoHv.addModels (registered_instances, true);  //Models to verify    GoHv.setInlierThreshold (hv_inlier_th_);    GoHv.setOcclusionThreshold (hv_occlusion_th_);    GoHv.setRegularizer (hv_regularizer_);    GoHv.setRadiusClutter (hv_rad_clutter_);    GoHv.setClutterRegularizer (hv_clutter_reg_);    GoHv.setDetectClutter (hv_detect_clutter_);    GoHv.setRadiusNormals (hv_rad_normals_);    GoHv.verify ();    GoHv.getMask (hypotheses_mask);  // i-element TRUE if hvModels[i] verifies hypotheses    for (int i = 0; i < hypotheses_mask.size (); i++) {        if (hypotheses_mask[i]) {            cerr << "Instance " << i << " is GOOD! <---" << endl;        } else {            cerr << "Instance " << i << " is bad!" << endl;        }    }    cerr << "-------------------------------" << endl;    /**       *  Visualization       */    pcl::visualization::PCLVisualizer viewer ("Hypotheses Verification");    viewer.addPointCloud (scene, "scene_cloud");    std::cerr << scene->points[1].x << scene->points[1].y << scene->points[1].z << std::endl;    viewer.addCoordinateSystem (1.0);    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "scene_cloud");    /* pcl::PointCloud<PointType>::Ptr off_scene_model (new pcl::PointCloud<PointType> ());      pcl::PointCloud<PointType>::Ptr off_scene_model_keypoints (new pcl::PointCloud<PointType> ());      pcl::PointCloud<PointType>::Ptr off_model_good_kp (new pcl::PointCloud<PointType> ());      pcl::transformPointCloud (*model, *off_scene_model, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));//.........这里部分代码省略.........

void shot_detector::visualizeCorrespondences(){    std::cerr << "Model instances found: " << rototranslations.size () << std::endl;    for (size_t i = 0; i < rototranslations.size (); ++i) {        std::cerr << "/n    Instance " << i + 1 << ":" << std::endl;        std::cerr << "        Correspondences belonging to this instance: " << clustered_corrs[i].size () << std::endl;        // Print the rotation matrix and translation vector        Eigen::Matrix3f rotation = rototranslations[i].block<3, 3>(0, 0);        Eigen::Vector3f translation = rototranslations[i].block<3, 1>(0, 3);        printf ("/n");        printf ("            | %6.3f %6.3f %6.3f | /n", rotation (0, 0), rotation (0, 1), rotation (0, 2));        printf ("        R = | %6.3f %6.3f %6.3f | /n", rotation (1, 0), rotation (1, 1), rotation (1, 2));        printf ("            | %6.3f %6.3f %6.3f | /n", rotation (2, 0), rotation (2, 1), rotation (2, 2));        printf ("/n");        printf ("        t = < %0.3f, %0.3f, %0.3f >/n", translation (0), translation (1), translation (2));    }    //    //  Visualization    //    pcl::visualization::PCLVisualizer viewer ("Correspondence Grouping");    viewer.addCoordinateSystem (1.0);    viewer.addPointCloud (scene, "scene_cloud");    pcl::PointCloud<PointType>::Ptr off_scene_model (new pcl::PointCloud<PointType> ());    pcl::PointCloud<PointType>::Ptr off_scene_model_keypoints (new pcl::PointCloud<PointType> ());    // if (show_correspondences_ || show_keypoints_)    // {    //  We are translating the model so that it doesn't end in the middle of the scene representation    pcl::transformPointCloud (*model, *off_scene_model, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));    pcl::transformPointCloud (*model_keypoints, *off_scene_model_keypoints, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));    pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_color_handler (off_scene_model, 255, 255, 128);    viewer.addPointCloud (off_scene_model, "off_scene_model");    // }    //if (show_keypoints_)    //  {    /*pcl::visualization::PointCloudColorHandlerCustom<PointType> scene_keypoints_color_handler (scene_keypoints, 0, 0, 255);        viewer.addPointCloud (scene_keypoints, scene_keypoints_color_handler, "scene_keypoints");        viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "scene_keypoints");*/    /* pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_keypoints_color_handler (off_scene_model_keypoints, 0, 0, 255);     viewer.addPointCloud (off_scene_model_keypoints, "off_scene_model_keypoints");     viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "off_scene_model_keypoints");*/    // }    pcl::PointCloud<PointType>::Ptr scene_corr (new pcl::PointCloud<PointType> ());    for (int idx = 0; idx < model_scene_corrs->size(); ++idx) {        PointType temp = scene_keypoints->at(model_scene_corrs->at(idx).index_match);        scene_corr->push_back(temp);    }    pcl::visualization::PointCloudColorHandlerCustom<PointType> scene_corr_color_handler (scene_corr, 255, 0, 0);    viewer.addPointCloud (scene_corr, scene_corr_color_handler, "scene_corr");    viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "scene_corr");    for (size_t i = 0; i < rototranslations.size (); ++i) {        pcl::PointCloud<PointType>::Ptr rotated_model (new pcl::PointCloud<PointType> ());        pcl::transformPointCloud (*model, *rotated_model, rototranslations[i]);        std::stringstream ss_cloud;        ss_cloud << "instance" << i;        pcl::visualization::PointCloudColorHandlerCustom<PointType> rotated_model_color_handler (rotated_model, 255, 0, 0);        viewer.addPointCloud (rotated_model, rotated_model_color_handler, ss_cloud.str ());        //if (show_correspondences_)        //{        pcl::PointCloud<PointType>::Ptr scene_corr (new pcl::PointCloud<PointType> ());        for (size_t j = 0; j < clustered_corrs[i].size (); ++j) {            std::stringstream ss_line;            ss_line << "correspondence_line" << i << "_" << j;            PointType& model_point = off_scene_model_keypoints->at (clustered_corrs[i][j].index_query);            PointType& scene_point = scene_keypoints->at (clustered_corrs[i][j].index_match);            //  We are drawing a line for each pair of clustered correspondences found between the model and the scene            viewer.addLine<PointType, PointType> (model_point, scene_point, 0, 255, 0, ss_line.str ());        }        // }    }    while (!viewer.wasStopped ()) {        viewer.spinOnce ();    }}

int main( int argc, char **argv ){    // use an ArgumentParser object to manage the program arguments.    osg::ArgumentParser arguments(&argc,argv);    // set up the usage document, in case we need to print out how to use this program.    arguments.getApplicationUsage()->setApplicationName(arguments.getApplicationName());    arguments.getApplicationUsage()->setDescription(arguments.getApplicationName()+" is the application for presenting 3D interactive slide shows.");    arguments.getApplicationUsage()->setCommandLineUsage(arguments.getApplicationName()+" [options] filename ...");    arguments.getApplicationUsage()->addCommandLineOption("-h or --help","Display this information");    arguments.getApplicationUsage()->addCommandLineOption("-a","Turn auto stepping on by default");    arguments.getApplicationUsage()->addCommandLineOption("-d <float>","Time duration in seconds between layers/slides");    arguments.getApplicationUsage()->addCommandLineOption("-s <float> <float> <float>","width, height, distance and of the screen away from the viewer");    arguments.getApplicationUsage()->addCommandLineOption("--viewer","Start Present3D as the viewer version.");    arguments.getApplicationUsage()->addCommandLineOption("--authoring","Start Present3D as the authoring version, license required.");    arguments.getApplicationUsage()->addCommandLineOption("--master","Start Present3D as the master version, license required.");    arguments.getApplicationUsage()->addCommandLineOption("--slave","Start Present3D as the slave version, license required.");    arguments.getApplicationUsage()->addCommandLineOption("--publishing","Start Present3D as the publishing version, license required.");    arguments.getApplicationUsage()->addCommandLineOption("--timeDelayOnNewSlideWithMovies","Set the time delay on new slide with movies, done to allow movie threads to get in sync with rendering thread.");    arguments.getApplicationUsage()->addCommandLineOption("--targetFrameRate","Set the target frame rate, defaults to 80Hz.");    arguments.getApplicationUsage()->addCommandLineOption("--version","Report the Present3D version.");    arguments.getApplicationUsage()->addCommandLineOption("--print <filename>","Print out slides to a series of image files.");    arguments.getApplicationUsage()->addCommandLineOption("--html <filename>","Print out slides to a series of html & image files.");    arguments.getApplicationUsage()->addCommandLineOption("--loop","Switch on looping of presentation.");    arguments.getApplicationUsage()->addCommandLineOption("--devices","Print the Video input capability via QuickTime and exit.");    // add alias from xml to p3d to provide backwards compatibility for old p3d files.    osgDB::Registry::instance()->addFileExtensionAlias("xml","p3d");    // if user requests devices video capability.    if (arguments.read("-devices") || arguments.read("--devices"))    {        // Force load QuickTime plugin, probe video capability, exit        osgDB::readImageFile("devices.live");        return 1;    }    // read any env vars from presentations before we create viewer to make sure the viewer    // utilises these env vars    if (p3d::readEnvVars(arguments))    {        osg::DisplaySettings::instance()->readEnvironmentalVariables();    }    // set up any logins required for http access    std::string url, username, password;    while(arguments.read("--login",url, username, password))    {        if (!osgDB::Registry::instance()->getAuthenticationMap())        {            osgDB::Registry::instance()->setAuthenticationMap(new osgDB::AuthenticationMap);            osgDB::Registry::instance()->getAuthenticationMap()->addAuthenticationDetails(                url,                new osgDB::AuthenticationDetails(username, password)            );        }    }#ifdef USE_SDL    SDLIntegration sdlIntegration;    osg::notify(osg::INFO)<<"USE_SDL"<<std::endl;#endif    bool doSetViewer = true;    std::string configurationFile;    // check env vars for configuration file    const char* str = getenv("PRESENT3D_CONFIG_FILE");    if (!str) str = getenv("OSG_CONFIG_FILE");    if (str) configurationFile = str;    // check command line parameters for configuration file.    while (arguments.read("-c",configurationFile)) {}    osg::Vec4 clearColor(0.0f,0.0f,0.0f,0.0f);    while (arguments.read("--clear-color",clearColor[0],clearColor[1],clearColor[2],clearColor[3])) {}    std::string filename;    if (arguments.read("--spell-check",filename))    {        p3d::SpellChecker spellChecker;        spellChecker.checkP3dXml(filename);        return 1;    }    if (arguments.read("--strip-text",filename))    {        p3d::XmlPatcher patcher;        // patcher.stripP3dXml(filename, osg::notify(osg::NOTICE));        osg::ref_ptr<osgDB::XmlNode> newNode = patcher.simplifyP3dXml(filename);        if (newNode.valid())        {            newNode->write(std::cout);        }//.........这里部分代码省略.........

int main( int argc, char **argv ){	// use an ArgumentParser object to manage the program arguments.	osg::ArgumentParser arguments(&argc,argv);	// set up the usage document, in case we need to print out how to use this program.	arguments.getApplicationUsage()->setApplicationName(arguments.getApplicationName());	arguments.getApplicationUsage()->setDescription(arguments.getApplicationName()+" is the a modified version of standard OpenSceneGraph example which loads and visualises 3d models and sounds.");	arguments.getApplicationUsage()->setCommandLineUsage(arguments.getApplicationName()+" [options] filename ...");	arguments.getApplicationUsage()->addCommandLineOption("-h or --help","Display command line paramters");	arguments.getApplicationUsage()->addCommandLineOption("--help-env","Display environmental variables available");	arguments.getApplicationUsage()->addCommandLineOption("--help-keys","Display keyboard & mouse bindings available");	arguments.getApplicationUsage()->addCommandLineOption("--help-all","Display all command line, env vars and keyboard & mouse bindigs.");	arguments.getApplicationUsage()->addCommandLineOption("--maxsounds <n>","Sets the maximum number of sounds allowed.");	arguments.getApplicationUsage()->addCommandLineOption("--gain <n>","Sets the global gain (volume)");	arguments.getApplicationUsage()->addCommandLineOption("--dopplerfactor <n>","Sets the doppler factor");	arguments.getApplicationUsage()->addCommandLineOption("--distancemodel <mode>", "NONE | INVERSE_DISTANCE |INVERSE_DISTANCE_CLAMPED");	// construct the viewer.	osgViewer::Viewer viewer(arguments);	// get details on keyboard and mouse bindings used by the viewer.	viewer.getUsage(*arguments.getApplicationUsage());	// if user request help write it out to cout.	bool helpAll = arguments.read("--help-all");	unsigned int helpType = ((helpAll || arguments.read("-h") || arguments.read("--help"))? osg::ApplicationUsage::COMMAND_LINE_OPTION : 0 ) |		((helpAll ||  arguments.read("--help-env"))? osg::ApplicationUsage::ENVIRONMENTAL_VARIABLE : 0 ) |		((helpAll ||  arguments.read("--help-keys"))? osg::ApplicationUsage::KEYBOARD_MOUSE_BINDING : 0 );	if (helpType)	{		arguments.getApplicationUsage()->write(std::cout, helpType);		return 1;	}	// Parsing the sound-related options	unsigned int maxSounds = OSGAL_DEFAULT_MAX_SOUNDSOURCES_ALLOWED;	arguments.read("--maxsounds", maxSounds);	float gain = OSGAL_DEFAULT_GAIN;	arguments.read("--gain", gain);	float dopplerFactor = OSGAL_DEFAULT_DOPPLER_FACTOR;	arguments.read("--dopplerfactor", dopplerFactor);	openalpp::DistanceModel distanceModel = OSGAL_DEFAULT_DISTANCE_MODEL;	std::string s_model;#undef None // Someone in Linux is defining it 8|	if (arguments.read("--distancemodel", s_model)) {		if (s_model == "NONE")			distanceModel = openalpp::None;		else if (s_model == "INVERSE_DISTANCE")			distanceModel = openalpp::InverseDistance;		else if (s_model == "INVERSE_DISTANCE_CLAMPED")			distanceModel = openalpp::InverseDistanceClamped;			else			osg::notify(osg::WARN) << "WARNING: I do not understand that -distancemodel parameter" << std::endl;	}	// report any errors if they have occured when parsing the program aguments.	if (arguments.errors())	{		arguments.writeErrorMessages(std::cout);		return 1;	}	if (arguments.argc()<=1)	{		arguments.getApplicationUsage()->write(std::cout,osg::ApplicationUsage::COMMAND_LINE_OPTION);		return 1;	}	try {		// here we init the SoundManager		osgAL::SoundManager::instance()->init(maxSounds);		osgAL::SoundManager::instance()->getEnvironment()->setGain(gain);		osgAL::SoundManager::instance()->getEnvironment()->setDopplerFactor(dopplerFactor);		osgAL::SoundManager::instance()->getEnvironment()->setDistanceModel(distanceModel);		osg::Timer_t start_tick = osg::Timer::instance()->tick();		// read the scene from the list of file specified commandline args.		osg::ref_ptr<osg::Node> loadedModel = osgDB::readNodeFiles(arguments);		// if no model has been successfully loaded report failure.		if (!loadedModel) 		{			std::cout << arguments.getApplicationName() <<": No data loaded" << std::endl;			return 1;		}		// any option left unread are converted into errors to write out later.		arguments.reportRemainingOptionsAsUnrecognized();		// report any errors if they have occured when parsing the program aguments.		if (arguments.errors())		{			arguments.writeErrorMessages(std::cout);//.........这里部分代码省略.........

int main(int argc, char *argv[]) {    std::signal(SIGINT, sigHandler);    std::string source;    std::string file_name;    std::string save_path;    po::options_description visible_options("OPTIONS");    try {        po::options_description options("INFO");        options.add_options()                ("help", "Produce help message.")                ("version,v", "Print version information.")                ;        po::options_description config("CONFIGURATION");        config.add_options()                ("filename,n", po::value<std::string>(&file_name),                "The base snapshot file name./n"                "The timestamp of the snapshot will be prepended to this name."                "If not provided, the SOURCE name will be used./n")                ("folder,f", po::value<std::string>(&save_path),                "The folder in which snapshots will be saved.")                ;        po::options_description hidden("HIDDEN OPTIONS");        hidden.add_options()                ("source", po::value<std::string>(&source),                "The name of the frame SOURCE that supplies frames to view./n")                ;        po::positional_options_description positional_options;        positional_options.add("source", -1);        po::options_description all_options("ALL OPTIONS");        all_options.add(options).add(hidden);        visible_options.add(options).add(config);        po::variables_map variable_map;        po::store(po::command_line_parser(argc, argv)                .options(all_options)                .positional(positional_options)                .run(),                variable_map);        po::notify(variable_map);        // Use the parsed options        if (variable_map.count("help")) {            printUsage(visible_options);            return 0;        }        if (variable_map.count("version")) {            std::cout << "Oat Frame Viewer version "                      << Oat_VERSION_MAJOR                      << "."                      << Oat_VERSION_MINOR                      << "/n";            std::cout << "Written by Jonathan P. Newman in the [email
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