What are the command / keystrokes for pcl_openni_viewer?

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What are the command / keystrokes for pcl_openni_viewer?

Dave Topper
So I'm not sure if it had been working all along or if I needed to
remove some other pcl libs from doing apt-get install libpc-1.7-all from
potentially a different repo.

Regardless, pcl and openni seem to be working fine for me now under
Ubuntu 14.04!

I've been trying to google the keystrokes for the app and can't seem to
find any.  By trial an error I've determined that I need to press 'R' in
order to start generating a point clode.  'G' gives me a psuedo
grid/overlay.  My mouse lets me rotate, zoom and move the source data.  
There are a few other keys too but I forget at the moment.

Is there some documentation for the app?  Even looking through what I
believe is the source code for it doesn't tell me much.  I see a case
where it checks the keyboard event, but that check must be piping the
actual work someplace else.

Regardless, I'd love to be able to use the app in order to learn more
about what the PCL library can do.

Lastly, I must say that PCL seems quite well put together.  I have a
consumer grade laser scanner (Matter and Form) and it takes vertical
slivers of an object by sequentially firing two lasers, recording the
points, then rotating the object.  It takes FOREVER to scan something.  
That's fine of course.  But what impresses me here is that PCL is able
to generate the ENTIRE pointcloud from my Kinect in basically real
time.  Not robotic real time, but observable "near real time."  That's
impressive, period.  Good job to the devs.


[hidden email] / http://pointclouds.org
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Re: What are the command / keystrokes for pcl_openni_viewer?


Sorry for answering too late to your last topic:

The visualizer is help is accessible with the "H" key, it will print in the terminal: (this is available whenever a PCLVisualizer is used in the application)

| Help:
          p, P   : switch to a point-based representation
          w, W   : switch to a wireframe-based representation (where available)
          s, S   : switch to a surface-based representation (where available)

          j, J   : take a .PNG snapshot of the current window view
          c, C   : display current camera/window parameters
          f, F   : fly to point mode

          e, E   : exit the interactor
          q, Q   : stop and call VTK's TerminateApp

           +/-   : increment/decrement overall point size
     +/- [+ ALT] : zoom in/out

          g, G   : display scale grid (on/off)
          u, U   : display lookup table (on/off)

    o, O         : switch between perspective/parallel projection (default = perspective)
    r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
    CTRL + s, S  : save camera parameters
    CTRL + r, R  : restore camera parameters

    ALT + s, S   : turn stereo mode on/off
    ALT + f, F   : switch between maximized window mode and original size

          l, L           : list all available geometric and color handlers for the current actor map
    ALT + 0..9 [+ CTRL]  : switch between different geometric handlers (where available)
          0..9 [+ CTRL]  : switch between different color handlers (where available)

    SHIFT + left click   : select a point (start with -use_point_picking)

          x, X   : toggle rubber band selection mode for left mouse button
The help of the program itself can be obtained by adding the argument "-h" or "--help":

$ pcl_openni_viewer -h
Syntax is: pcl_openni_viewer [((<device_id> | <path-to-oni-file>) [-depthmode <mode>] [-imagemode <mode>] [-xyz] | -l [<device_id>]| -h | --help)]
pcl_openni_viewer -h | --help : shows this help
pcl_openni_viewer -xyz : use only XYZ values and ignore RGB components (this flag is required for use with ASUS Xtion Pro)
pcl_openni_viewer -l : list all available devices
pcl_openni_viewer -l <device-id> :list all available modes for specified device
                <device_id> may be "#1", "#2", ... for the first, second etc device in the list
                                   bus@address for the device connected to a specific usb-bus / address combination

pcl_openni_viewer "#1"
                 uses the first device.
pcl_openni_viewer  "./temp/test.oni"
                 uses the oni-player device to play back oni file given by path.
pcl_openni_viewer -l
                 list all available devices.
pcl_openni_viewer -l "#2"
                 list all available modes for the second device.
pcl_openni_viewer A00361800903049A
                 uses the device with the serial number 'A00361800903049A'.
pcl_openni_viewer 1@16
                 uses the device on address 16 at USB bus 1.

Laser scanner is usually not the fastest method to scan but with a good turn table and some automation (I used to do it with mindstorms) you can get good results without a hassle.