pcl_plotter_demo.cpp

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/* \author Kripasindhu Sarkar */

#include<pcl/visualization/pcl_plotter.h>

#include<iostream>
#include<vector>
#include<utility>
#include<math.h>  //for abs()

using namespace std;
using namespace pcl::visualization;

void
generateData (double *ax, double *acos, double *asin, int numPoints)
{
  double inc = 7.5 / (numPoints - 1);
  for (int i = 0; i < numPoints; ++i)
  {
    ax[i] = i*inc;
    acos[i] = cos (i * inc);
    asin[i] = sin (i * inc);
  }
}

//.....................callback functions defining Y= f(X)....................
double
step (double val)
{
  if (val > 0)
    return (double) (int) val;
  else
    return (double) ((int) val - 1);
}

double
identity (double val)
{
  return val;
}
//............................................................................

int
main (int argc, char * argv [])
{
  //defining a plotter
  PCLPlotter *plotter = new PCLPlotter ("My Plotter");

  //setting some properties
  plotter->setShowLegend (true);

  //generating point correspondances
  int numPoints = 69;
  double ax[100], acos[100], asin[100];
  generateData (ax, acos, asin, numPoints);

  //adding plot data
  plotter->addPlotData (ax, acos, numPoints, "cos");
  plotter->addPlotData (ax, asin, numPoints, "sin");

  //display for 2 seconds
  plotter->spinOnce (3000);
  plotter->clearPlots ();
  
  
  //...................plotting implicit functions and custom callbacks....................

  //make a fixed axis
  plotter->setYRange (-10, 10);

  //defining polynomials
  vector<double> func1 (1, 0);
  func1[0] = 1; //y = 1
  vector<double> func2 (3, 0);
  func2[2] = 1; //y = x^2

  plotter->addPlotData (std::make_pair (func1, func2), -10, 10, "y = 1/x^2", 100, vtkChart::POINTS);
  plotter->spinOnce (2000);

  plotter->addPlotData (func2, -10, 10, "y = x^2");
  plotter->spinOnce (2000);

  //callbacks
  plotter->addPlotData (identity, -10, 10, "identity");
  plotter->spinOnce (2000);

  plotter->addPlotData (abs, -10, 10, "abs");
  plotter->spinOnce (2000);

  plotter->addPlotData (step, -10, 10, "step", 100, vtkChart::POINTS);
  plotter->spinOnce (2000);

  plotter->clearPlots ();

  //........................A simple animation..............................
  vector<double> fsq (3, 0);
  fsq[2] = -100; //y = x^2
  while (!plotter->wasStopped ())
  {
    if (fsq[2] == 100) fsq[2] = -100;
    fsq[2]++;
    char str[50];
    sprintf (str, "y = %dx^2", (int) fsq[2]);
    plotter->addPlotData (fsq, -10, 10, str);

    plotter->spinOnce (100);
    plotter->clearPlots ();
  }

  return 1;
}