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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;
}
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