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Merge remote-tracking branch 'remotes/ozan/refactoring_shapeMethods' into viz

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Conflicts:
	modules/viz/test/test_viz3d.cpp
This commit is contained in:
Anatoly Baksheev
2013-07-01 21:39:04 +04:00
parent 909f905b57 1830059969
commit 2229d91c50
9 changed files with 535 additions and 647 deletions
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114
modules/viz/src/q/viz3d_impl.hpp
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@@ -137,13 +137,22 @@ public:
// This tends to close the window...
interactor_->TerminateApp ();
}
void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color);
void showPlane (const String &id, const cv::Vec4f &coefs, const Color &color);
void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color);
void showCube (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
void showCylinder (const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color);
void showCircle (const String &id, const Point3f &pt, double radius, const Color &color);
void showSphere (const String &id, const Point3f &pt, double radius, const Color &color);
void showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
Affine3f getShapePose (const String &id);
bool setShapePose (const String &id, const Affine3f &pose);
bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
bool addLine (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, const std::string &id = "line");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color_line, const Color& color_text, const std::string &id = "arrow");
bool addSphere (const cv::Point3f &center, float radius, const Color& color, const std::string &id = "sphere");
bool updateSphere (const cv::Point3f &center, float radius, const Color& color, const std::string &id = "sphere");
// Add a vtkPolydata as a mesh
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id = "PolyData");
@@ -151,104 +160,6 @@ public:
bool addModelFromPLYFile (const std::string &filename, const std::string &id = "PLYModel");
bool addModelFromPLYFile (const std::string &filename, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PLYModel");
/** \brief Add a cylinder from a set of given model coefficients
* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
* \param[in] id the cylinder id/name (default: "cylinder")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelCylinder for more information.
* // float radius;
*
* temp_viz::ModelCoefficients cylinder_coeff;
* cylinder_coeff.values.resize (7); // We need 7 values
* cylinder_coeff.values[0] = pt_on_axis.x ();
* cylinder_coeff.values[1] = pt_on_axis.y ();
* cylinder_coeff.values[2] = pt_on_axis.z ();
*
* cylinder_coeff.values[3] = axis_direction.x ();
* cylinder_coeff.values[4] = axis_direction.y ();
* cylinder_coeff.values[5] = axis_direction.z ();
*
* cylinder_coeff.values[6] = radius;
*
* addCylinder (cylinder_coeff);
* \endcode
*/
bool addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cylinder");
/** \brief Add a plane from a set of given model coefficients
* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
* \param[in] id the plane id/name (default: "plane")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelPlane for more information
*
* temp_viz::ModelCoefficients plane_coeff;
* plane_coeff.values.resize (4); // We need 4 values
* plane_coeff.values[0] = plane_parameters.x ();
* plane_coeff.values[1] = plane_parameters.y ();
* plane_coeff.values[2] = plane_parameters.z ();
* plane_coeff.values[3] = plane_parameters.w ();
*
* addPlane (plane_coeff);
* \endcode
*/
bool addPlane (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "plane");
bool addPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z, const std::string &id = "plane");
/** \brief Add a circle from a set of given model coefficients
* \param[in] coefficients the model coefficients (x, y, radius)
* \param[in] id the circle id/name (default: "circle")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelCircle2D for more information
* // float x, y, radius;
*
* temp_viz::ModelCoefficients circle_coeff;
* circle_coeff.values.resize (3); // We need 3 values
* circle_coeff.values[0] = x;
* circle_coeff.values[1] = y;
* circle_coeff.values[2] = radius;
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::create2DCircle (circle_coeff, z);
* \endcode
*/
bool addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "circle");
/** \brief Add a cube from a set of given model coefficients
* \param[in] coefficients the model coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cube");
/** \brief Add a cube from a set of given model coefficients
* \param[in] translation a translation to apply to the cube from 0,0,0
* \param[in] rotation a quaternion-based rotation to apply to the cube
* \param[in] width the cube's width
* \param[in] height the cube's height
* \param[in] depth the cube's depth
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (const cv::Vec3f& translation, const cv::Vec3f quaternion, double width, double height, double depth, const std::string &id = "cube");
/** \brief Add a cube
* \param[in] x_min the min X coordinate
* \param[in] x_max the max X coordinate
* \param[in] y_min the min Y coordinate
* \param[in] y_max the max Y coordinate
* \param[in] z_min the min Z coordinate
* \param[in] z_max the max Z coordinate
* \param[in] r how much red (0.0 -> 1.0)
* \param[in] g how much green (0.0 -> 1.0)
* \param[in] b how much blue (0.0 -> 1.0)
* \param[in] id the cube id/name (default: "cube")
*/
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");
/** \brief Changes the visual representation for all actors to surface representation. */
void setRepresentationToSurfaceForAllActors ();
@@ -438,6 +349,7 @@ private:
//void convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
void convertToVtkMatrix (const cv::Matx44f& m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
void convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m);
/** \brief Convert origin and orientation to vtkMatrix4x4
* \param[in] origin the point cloud origin