removed redundant addShape methods
This commit is contained in:
ozantonkal
parent
4a19ff3a7c
commit
1830059969
@ -15,119 +15,6 @@ namespace temp_viz
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube(const Point3f& pt_min, const Point3f& pt_max);
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createSphere (const Point3f& pt, double radius);
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createArrow (const Point3f& pt1, const Point3f& pt2);
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// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Point3f& pt, const Quaternionf& qt, );
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// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth);
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// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max);
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//
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//
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/** \brief Create a cylinder shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
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* \param[in] numsides (optional) the number of sides used for rendering the cylinder
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder)
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* // Eigen::Vector3f pt_on_axis, axis_direction;
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* // float radius;
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*
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* temp_viz::ModelCoefficients cylinder_coeff;
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* cylinder_coeff.values.resize (7); // We need 7 values
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* cylinder_coeff.values[0] = pt_on_axis.x ();
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* cylinder_coeff.values[1] = pt_on_axis.y ();
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* cylinder_coeff.values[2] = pt_on_axis.z ();
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*
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* cylinder_coeff.values[3] = axis_direction.x ();
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* cylinder_coeff.values[4] = axis_direction.y ();
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* cylinder_coeff.values[5] = axis_direction.z ();
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*
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* cylinder_coeff.values[6] = radius;
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*
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* vtkSmartPointer<vtkDataSet> data = temp_viz::createCylinder (cylinder_coeff, numsides);
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* \endcode
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*
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* \ingroup visualization
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*/
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createCylinder (const temp_viz::ModelCoefficients &coefficients, int numsides = 30);
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/** \brief Create a planar shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)
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* // Eigen::Vector4f plane_parameters;
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*
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* temp_viz::ModelCoefficients plane_coeff;
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* plane_coeff.values.resize (4); // We need 4 values
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* plane_coeff.values[0] = plane_parameters.x ();
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* plane_coeff.values[1] = plane_parameters.y ();
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* plane_coeff.values[2] = plane_parameters.z ();
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* plane_coeff.values[3] = plane_parameters.w ();
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*
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* vtkSmartPointer<vtkDataSet> data = temp_viz::createPlane (plane_coeff);
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* \endcode
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*
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* \ingroup visualization
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*/
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const temp_viz::ModelCoefficients &coefficients);
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/** \brief Create a planar shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
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* \param[in] x,y,z projection of this point on the plane is used to get the center of the plane.
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* \ingroup visualization
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*/
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z);
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/** \brief Create a 2d circle shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (x, y, radius)
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* \param[in] z (optional) specify a z value (default: 0)
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)
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* // float x, y, radius;
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*
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* temp_viz::ModelCoefficients circle_coeff;
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* circle_coeff.values.resize (3); // We need 3 values
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* circle_coeff.values[0] = x;
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* circle_coeff.values[1] = y;
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* circle_coeff.values[2] = radius;
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*
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* vtkSmartPointer<vtkDataSet> data = temp_viz::create2DCircle (circle_coeff, z);
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* \endcode
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*
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* \ingroup visualization
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*/
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CV_EXPORTS vtkSmartPointer<vtkDataSet> create2DCircle (const temp_viz::ModelCoefficients &coefficients, double z = 0.0);
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/** \brief Creaet a cube shape from a set of model coefficients.
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* \param[in] coefficients the cube coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
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* \ingroup visualization
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*/
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const temp_viz::ModelCoefficients &coefficients);
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/** \brief Creaet a cube shape from a set of model coefficients.
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*
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* \param[in] translation a translation to apply to the cube from 0,0,0
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* \param[in] rotation a quaternion-based rotation to apply to the cube
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* \param[in] width the cube's width
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* \param[in] height the cube's height
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* \param[in] depth the cube's depth
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* \ingroup visualization
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*/
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth);
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/** \brief Create a cube from a set of bounding points
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* \param[in] x_min is the minimum x value of the box
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* \param[in] x_max is the maximum x value of the box
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* \param[in] y_min is the minimum y value of the box
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* \param[in] y_max is the maximum y value of the box
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* \param[in] z_min is the minimum z value of the box
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* \param[in] z_max is the maximum z value of the box
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* \param[in] id the cube id/name (default: "cube")
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* \param[in] viewport (optional) the id of the new viewport (default: 0)
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*/
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CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max);
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/** \brief Allocate a new unstructured grid smartpointer. For internal use only.
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* \param[out] polydata the resultant unstructured grid.
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*/
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@ -153,8 +153,6 @@ public:
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bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
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bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow");
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bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color_line, const Color& color_text, const std::string &id = "arrow");
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bool addSphere (const cv::Point3f ¢er, float radius, const Color& color, const std::string &id = "sphere");
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bool updateSphere (const cv::Point3f ¢er, float radius, const Color& color, const std::string &id = "sphere");
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// Add a vtkPolydata as a mesh
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bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id = "PolyData");
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@ -162,82 +160,6 @@ public:
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bool addModelFromPLYFile (const std::string &filename, const std::string &id = "PLYModel");
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bool addModelFromPLYFile (const std::string &filename, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PLYModel");
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/** \brief Add a cylinder from a set of given model coefficients
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* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
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* \param[in] id the cylinder id/name (default: "cylinder")
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*
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* \code
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* // The following are given (or computed using sample consensus techniques)
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* // See SampleConsensusModelCylinder for more information.
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* // float radius;
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*
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* temp_viz::ModelCoefficients cylinder_coeff;
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* cylinder_coeff.values.resize (7); // We need 7 values
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* cylinder_coeff.values[0] = pt_on_axis.x ();
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* cylinder_coeff.values[1] = pt_on_axis.y ();
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* cylinder_coeff.values[2] = pt_on_axis.z ();
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*
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* cylinder_coeff.values[3] = axis_direction.x ();
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* cylinder_coeff.values[4] = axis_direction.y ();
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* cylinder_coeff.values[5] = axis_direction.z ();
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*
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* cylinder_coeff.values[6] = radius;
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*
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* addCylinder (cylinder_coeff);
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* \endcode
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*/
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bool addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cylinder");
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/** \brief Add a circle from a set of given model coefficients
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* \param[in] coefficients the model coefficients (x, y, radius)
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* \param[in] id the circle id/name (default: "circle")
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*
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* \code
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* // The following are given (or computed using sample consensus techniques)
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* // See SampleConsensusModelCircle2D for more information
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* // float x, y, radius;
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*
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* temp_viz::ModelCoefficients circle_coeff;
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* circle_coeff.values.resize (3); // We need 3 values
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* circle_coeff.values[0] = x;
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* circle_coeff.values[1] = y;
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* circle_coeff.values[2] = radius;
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*
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* vtkSmartPointer<vtkDataSet> data = temp_viz::create2DCircle (circle_coeff, z);
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* \endcode
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*/
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bool addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "circle");
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/** \brief Add a cube from a set of given model coefficients
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* \param[in] coefficients the model coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
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* \param[in] id the cube id/name (default: "cube")
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*/
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bool addCube (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cube");
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/** \brief Add a cube from a set of given model coefficients
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* \param[in] translation a translation to apply to the cube from 0,0,0
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* \param[in] rotation a quaternion-based rotation to apply to the cube
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* \param[in] width the cube's width
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* \param[in] height the cube's height
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* \param[in] depth the cube's depth
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* \param[in] id the cube id/name (default: "cube")
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*/
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bool addCube (const cv::Vec3f& translation, const cv::Vec3f quaternion, double width, double height, double depth, const std::string &id = "cube");
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/** \brief Add a cube
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* \param[in] x_min the min X coordinate
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* \param[in] x_max the max X coordinate
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* \param[in] y_min the min Y coordinate
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* \param[in] y_max the max Y coordinate
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* \param[in] z_min the min Z coordinate
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* \param[in] z_max the max Z coordinate
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* \param[in] r how much red (0.0 -> 1.0)
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* \param[in] g how much green (0.0 -> 1.0)
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* \param[in] b how much blue (0.0 -> 1.0)
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* \param[in] id the cube id/name (default: "cube")
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*/
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bool addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max, const Color& color, const std::string &id = "cube");
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/** \brief Changes the visual representation for all actors to surface representation. */
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void setRepresentationToSurfaceForAllActors ();
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@ -139,178 +139,6 @@ vtkSmartPointer<vtkDataSet> temp_viz::createArrow (const Point3f& pt1, const Poi
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return (transformPD->GetOutput());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::createCylinder (const temp_viz::ModelCoefficients &coefficients, int numsides)
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{
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vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
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line->SetPoint1 (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
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line->SetPoint2 (coefficients.values[3]+coefficients.values[0], coefficients.values[4]+coefficients.values[1], coefficients.values[5]+coefficients.values[2]);
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vtkSmartPointer<vtkTubeFilter> tuber = vtkSmartPointer<vtkTubeFilter>::New ();
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tuber->SetInputConnection (line->GetOutputPort ());
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tuber->SetRadius (coefficients.values[6]);
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tuber->SetNumberOfSides (numsides);
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return (tuber->GetOutput ());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::createCube (const temp_viz::ModelCoefficients &coefficients)
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{
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// coefficients = [Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth]
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vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
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t->Identity ();
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t->Translate (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
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Eigen::AngleAxisf a (Eigen::Quaternionf (coefficients.values[6], coefficients.values[3],
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coefficients.values[4], coefficients.values[5]));
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t->RotateWXYZ (rad2deg (a.angle ()), a.axis ()[0], a.axis ()[1], a.axis ()[2]);
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vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
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cube->SetXLength (coefficients.values[7]);
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cube->SetYLength (coefficients.values[8]);
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cube->SetZLength (coefficients.values[9]);
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vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
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tf->SetTransform (t);
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tf->SetInputConnection (cube->GetOutputPort ());
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return (tf->GetOutput ());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth)
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{
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// coefficients = [Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth]
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vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
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t->Identity ();
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t->Translate (translation.x (), translation.y (), translation.z ());
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Eigen::AngleAxisf a (rotation);
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t->RotateWXYZ (rad2deg (a.angle ()), a.axis ()[0], a.axis ()[1], a.axis ()[2]);
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vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
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cube->SetXLength (width);
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cube->SetYLength (height);
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cube->SetZLength (depth);
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vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
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tf->SetTransform (t);
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tf->SetInputConnection (cube->GetOutputPort ());
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return (tf->GetOutput ());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max)
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{
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vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
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vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
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cube->SetBounds (x_min, x_max, y_min, y_max, z_min, z_max);
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return (cube->GetOutput ());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::createPlane (const temp_viz::ModelCoefficients &coefficients)
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{
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vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
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plane->SetNormal (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
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double norm_sqr = coefficients.values[0] * coefficients.values[0]
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+ coefficients.values[1] * coefficients.values[1]
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+ coefficients.values[2] * coefficients.values[2];
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plane->Push (-coefficients.values[3] / sqrt(norm_sqr));
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return (plane->GetOutput ());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::createPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z)
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{
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vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
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double norm_sqr = 1.0 / (coefficients.values[0] * coefficients.values[0] +
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coefficients.values[1] * coefficients.values[1] +
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coefficients.values[2] * coefficients.values[2] );
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// double nx = coefficients.values [0] * norm;
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// double ny = coefficients.values [1] * norm;
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// double nz = coefficients.values [2] * norm;
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// double d = coefficients.values [3] * norm;
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// plane->SetNormal (nx, ny, nz);
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plane->SetNormal (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
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double t = x * coefficients.values[0] + y * coefficients.values[1] + z * coefficients.values[2] + coefficients.values[3];
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x -= coefficients.values[0] * t * norm_sqr;
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y -= coefficients.values[1] * t * norm_sqr;
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z -= coefficients.values[2] * t * norm_sqr;
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plane->SetCenter (x, y, z);
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return (plane->GetOutput ());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::create2DCircle (const temp_viz::ModelCoefficients &coefficients, double z)
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{
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vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
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// Maybe the resolution should be lower e.g. 50 or 25
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disk->SetCircumferentialResolution (100);
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disk->SetInnerRadius (coefficients.values[2] - 0.001);
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disk->SetOuterRadius (coefficients.values[2] + 0.001);
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disk->SetCircumferentialResolution (20);
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// An alternative to <vtkDiskSource> could be <vtkRegularPolygonSource> with <vtkTubeFilter>
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/*
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vtkSmartPointer<vtkRegularPolygonSource> circle = vtkSmartPointer<vtkRegularPolygonSource>::New();
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circle->SetRadius (coefficients.values[2]);
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circle->SetNumberOfSides (100);
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vtkSmartPointer<vtkTubeFilter> tube = vtkSmartPointer<vtkTubeFilter>::New();
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tube->SetInput (circle->GetOutput());
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tube->SetNumberOfSides (25);
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tube->SetRadius (0.001);
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*/
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// Set the circle origin
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vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
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t->Identity ();
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t->Translate (coefficients.values[0], coefficients.values[1], z);
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vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
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tf->SetTransform (t);
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tf->SetInputConnection (disk->GetOutputPort ());
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/*
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tf->SetInputConnection (tube->GetOutputPort ());
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*/
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return (tf->GetOutput ());
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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vtkSmartPointer<vtkDataSet> temp_viz::createSphere (const cv::Point3f& center, float radius, int sphere_resolution)
|
||||
{
|
||||
// Set the sphere origin
|
||||
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
|
||||
t->Identity ();
|
||||
t->Translate (center.x, center.y, center.z);
|
||||
|
||||
vtkSmartPointer<vtkSphereSource> s_sphere = vtkSmartPointer<vtkSphereSource>::New ();
|
||||
s_sphere->SetRadius (radius);
|
||||
s_sphere->SetPhiResolution (sphere_resolution);
|
||||
s_sphere->SetThetaResolution (sphere_resolution);
|
||||
s_sphere->LatLongTessellationOff ();
|
||||
|
||||
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
|
||||
tf->SetTransform (t);
|
||||
tf->SetInputConnection (s_sphere->GetOutputPort ());
|
||||
tf->Update ();
|
||||
|
||||
return (tf->GetOutput ());
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
vtkSmartPointer<vtkDataSet> temp_viz::createLine (const cv::Point3f& pt1, const cv::Point3f& pt2)
|
||||
{
|
||||
|
||||
@ -63,11 +63,6 @@ bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const Str
|
||||
return impl_->addPolygon(cloud, color, id);
|
||||
}
|
||||
|
||||
bool temp_viz::Viz3d::addSphere (const cv::Point3f ¢er, double radius, const Color& color, const std::string &id)
|
||||
{
|
||||
return impl_->addSphere(center, radius, color, id);
|
||||
}
|
||||
|
||||
void temp_viz::Viz3d::spin()
|
||||
{
|
||||
impl_->spin();
|
||||
|
||||
@ -958,72 +958,6 @@ bool temp_viz::Viz3d::VizImpl::addArrow (const cv::Point3f &p1, const cv::Point3
|
||||
return (true);
|
||||
}
|
||||
|
||||
#include <vtkSphereSource.h>
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addSphere (const cv::Point3f& center, float radius, const Color& color, const std::string &id)
|
||||
{
|
||||
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
|
||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
||||
if (am_it != shape_actor_map_->end ())
|
||||
return std::cout << "[addSphere] A shape with id <"<<id << "> already exists! Please choose a different id and retry." << std::endl, false;
|
||||
|
||||
//vtkSmartPointer<vtkDataSet> data = createSphere (center.getVector4fMap (), radius);
|
||||
vtkSmartPointer<vtkSphereSource> data = vtkSmartPointer<vtkSphereSource>::New ();
|
||||
data->SetRadius (radius);
|
||||
data->SetCenter (center.x, center.y, center.z);
|
||||
data->SetPhiResolution (10);
|
||||
data->SetThetaResolution (10);
|
||||
data->LatLongTessellationOff ();
|
||||
data->Update ();
|
||||
|
||||
// Setup actor and mapper
|
||||
vtkSmartPointer <vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
|
||||
mapper->SetInputConnection (data->GetOutputPort ());
|
||||
|
||||
// Create an Actor
|
||||
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
|
||||
actor->SetMapper (mapper);
|
||||
//createActorFromVTKDataSet (data, actor);
|
||||
actor->GetProperty ()->SetRepresentationToSurface ();
|
||||
actor->GetProperty ()->SetInterpolationToFlat ();
|
||||
|
||||
Color c = vtkcolor(color);
|
||||
actor->GetProperty ()->SetColor (c.val);
|
||||
actor->GetMapper ()->ImmediateModeRenderingOn ();
|
||||
actor->GetMapper ()->StaticOn ();
|
||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
||||
actor->GetMapper ()->Update ();
|
||||
renderer_->AddActor (actor);
|
||||
|
||||
// Save the pointer/ID pair to the global actor map
|
||||
(*shape_actor_map_)[id] = actor;
|
||||
return (true);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::updateSphere (const cv::Point3f ¢er, float radius, const Color& color, const std::string &id)
|
||||
{
|
||||
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
|
||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
||||
if (am_it == shape_actor_map_->end ())
|
||||
return (false);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
// Get the actor pointer
|
||||
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
|
||||
vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
|
||||
vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);
|
||||
|
||||
src->SetCenter(center.x, center.y, center.z);
|
||||
src->SetRadius(radius);
|
||||
src->Update ();
|
||||
Color c = vtkcolor(color);
|
||||
actor->GetProperty ()->SetColor (c.val);
|
||||
actor->Modified ();
|
||||
|
||||
return (true);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addText3D (const std::string &text, const cv::Point3f& position, const Color& color, double textScale, const std::string &id)
|
||||
{
|
||||
|
||||
@ -894,111 +894,6 @@ void temp_viz::Viz3d::VizImpl::resetCameraViewpoint (const std::string &id)
|
||||
renderer_->Render ();
|
||||
}
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
|
||||
{
|
||||
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
|
||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
||||
if (am_it != shape_actor_map_->end ())
|
||||
{
|
||||
std::cout << "[addCylinder] A shape with id <"<<id <<"> already exists! Please choose a different id and retry." << std::endl;
|
||||
return (false);
|
||||
}
|
||||
|
||||
vtkSmartPointer<vtkDataSet> data = createCylinder (coefficients);
|
||||
|
||||
// Create an Actor
|
||||
vtkSmartPointer<vtkLODActor> actor;
|
||||
createActorFromVTKDataSet (data, actor);
|
||||
actor->GetProperty ()->SetRepresentationToWireframe ();
|
||||
actor->GetProperty ()->SetLighting (false);
|
||||
renderer_->AddActor (actor);
|
||||
|
||||
// Save the pointer/ID pair to the global actor map
|
||||
(*shape_actor_map_)[id] = actor;
|
||||
return (true);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addCube (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
|
||||
{
|
||||
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
|
||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
||||
if (am_it != shape_actor_map_->end ())
|
||||
{
|
||||
std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl;
|
||||
return (false);
|
||||
}
|
||||
|
||||
vtkSmartPointer<vtkDataSet> data = createCube (coefficients);
|
||||
|
||||
// Create an Actor
|
||||
vtkSmartPointer<vtkLODActor> actor;
|
||||
createActorFromVTKDataSet (data, actor);
|
||||
actor->GetProperty ()->SetRepresentationToWireframe ();
|
||||
actor->GetProperty ()->SetLighting (false);
|
||||
renderer_->AddActor (actor);
|
||||
|
||||
// Save the pointer/ID pair to the global actor map
|
||||
(*shape_actor_map_)[id] = actor;
|
||||
return (true);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addCube (const cv::Vec3f& translation, const cv::Vec3f quaternion, double width, double height, double depth, const std::string &id)
|
||||
{
|
||||
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
|
||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
||||
if (am_it != shape_actor_map_->end ())
|
||||
{
|
||||
std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl;
|
||||
return (false);
|
||||
}
|
||||
|
||||
Eigen::Vector3f t(translation[0], translation[1], translation[2]);
|
||||
Eigen::Quaternionf q(quaternion[0], quaternion[1], quaternion[2], quaternion[3]);
|
||||
|
||||
vtkSmartPointer<vtkDataSet> data = createCube (t, q, width, height, depth);
|
||||
|
||||
// Create an Actor
|
||||
vtkSmartPointer<vtkLODActor> actor;
|
||||
createActorFromVTKDataSet (data, actor);
|
||||
actor->GetProperty ()->SetRepresentationToWireframe ();
|
||||
actor->GetProperty ()->SetLighting (false);
|
||||
renderer_->AddActor (actor);
|
||||
|
||||
// Save the pointer/ID pair to the global actor map
|
||||
(*shape_actor_map_)[id] = actor;
|
||||
return (true);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max,
|
||||
const Color& color , const std::string &id)
|
||||
{
|
||||
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
|
||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
||||
if (am_it != shape_actor_map_->end ())
|
||||
return std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl, false;
|
||||
|
||||
vtkSmartPointer<vtkDataSet> data = createCube (x_min, x_max, y_min, y_max, z_min, z_max);
|
||||
|
||||
// Create an Actor
|
||||
vtkSmartPointer<vtkLODActor> actor;
|
||||
createActorFromVTKDataSet (data, actor);
|
||||
actor->GetProperty ()->SetRepresentationToWireframe ();
|
||||
actor->GetProperty ()->SetLighting (false);
|
||||
|
||||
Color c = vtkcolor(color);
|
||||
actor->GetProperty ()->SetColor (c.val);
|
||||
renderer_->AddActor (actor);
|
||||
|
||||
// Save the pointer/ID pair to the global actor map
|
||||
(*shape_actor_map_)[id] = actor;
|
||||
return (true);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id)
|
||||
{
|
||||
@ -1088,31 +983,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
|
||||
return (true);
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
|
||||
{
|
||||
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
|
||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
||||
if (am_it != shape_actor_map_->end ())
|
||||
{
|
||||
std::cout << "[addCircle] A shape with id <"<<id<<"> already exists! Please choose a different id and retry.\n" << std::endl;
|
||||
return (false);
|
||||
}
|
||||
|
||||
vtkSmartPointer<vtkDataSet> data = create2DCircle (coefficients);
|
||||
|
||||
// Create an Actor
|
||||
vtkSmartPointer<vtkLODActor> actor;
|
||||
createActorFromVTKDataSet (data, actor);
|
||||
actor->GetProperty ()->SetRepresentationToWireframe ();
|
||||
actor->GetProperty ()->SetLighting (false);
|
||||
|
||||
|
||||
// Save the pointer/ID pair to the global actor map
|
||||
(*shape_actor_map_)[id] = actor;
|
||||
return (true);
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool temp_viz::Viz3d::VizImpl::addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
|
||||
{
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user