remove ModelCoefficients, remove showShape methods from viz3d
This commit is contained in:
ozantonkal
parent
5bb95c4110
commit
4c3d1d583a
@ -35,13 +35,6 @@ namespace temp_viz
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using cv::DataDepth;
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using cv::DataDepth;
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using cv::DataType;
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using cv::DataType;
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struct CV_EXPORTS ModelCoefficients
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{
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std::vector<float> values;
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};
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class CV_EXPORTS Color : public Scalar
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class CV_EXPORTS Color : public Scalar
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{
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{
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public:
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public:
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@ -26,43 +26,18 @@ namespace temp_viz
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void setBackgroundColor(const Color& color = Color::black());
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void setBackgroundColor(const Color& color = Color::black());
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void addCoordinateSystem(double scale, const Affine3f& t, const String& id = "coordinate");
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void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
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void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
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void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
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void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
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bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
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bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
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void showLine(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
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void showPlane(const String& id, const Vec4f& coeffs, const Color& color = Color::white());
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void showPlane(const String& id, const Vec4f& coeffs, const Point3f& pt, const Color& color = Color::white());
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void showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
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void showCylinder(const String& id, const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int num_sides, const Color& color = Color::white());
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void showCircle(const String& id, const Point3f& pt, double radius, const Color& color = Color::white());
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void showSphere(const String& id, const Point3f& pt, double radius, const Color& color = Color::white());
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void showArrow(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
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Affine3f getShapePose(const String& id);
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void setShapePose(const String& id, const Affine3f &pose);
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bool addPlane (const ModelCoefficients &coefficients, const String& id = "plane");
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bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String& id = "plane");
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bool removeCoordinateSystem (const String& id = "coordinate");
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bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
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bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
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bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
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bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
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bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
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bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
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bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
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bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
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bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
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bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
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bool addSphere (const Point3f ¢er, double radius, const Color& color, const String& id = "sphere");
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void spin ();
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void spin ();
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void spinOnce (int time = 1, bool force_redraw = false);
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void spinOnce (int time = 1, bool force_redraw = false);
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@ -38,41 +38,6 @@ public:
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void spin ();
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void spin ();
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void spinOnce (int time = 1, bool force_redraw = false);
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void spinOnce (int time = 1, bool force_redraw = false);
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/** \brief Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw
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*
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* \param[in] scale the scale of the axes (default: 1)
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* \param[in] t transformation matrix
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*
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* RPY Angles
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* Rotate the reference frame by the angle roll about axis x
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* Rotate the reference frame by the angle pitch about axis y
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* Rotate the reference frame by the angle yaw about axis z
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*
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* Description:
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* Sets the orientation of the Prop3D. Orientation is specified as
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* X,Y and Z rotations in that order, but they are performed as
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* RotateZ, RotateX, and finally RotateY.
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*
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* All axies use right hand rule. x=red axis, y=green axis, z=blue axis
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* z direction is point into the screen.
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* z
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* \
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* \
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* \
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* -----------> x
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* |
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* |
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* |
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* |
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* |
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* |
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* y
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*/
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void addCoordinateSystem (double scale, const Affine3f& t, const String& id = "coordinate");
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/** \brief Removes a previously added 3D axes (coordinate system)
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*/
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bool removeCoordinateSystem (const String& id = "coordinate");
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bool removePointCloud (const String& id = "cloud");
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bool removePointCloud (const String& id = "cloud");
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inline bool removePolygonMesh (const String& id = "polygon")
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inline bool removePolygonMesh (const String& id = "polygon")
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{
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{
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@ -138,18 +103,6 @@ public:
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interactor_->TerminateApp ();
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interactor_->TerminateApp ();
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}
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}
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void showLine (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
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void showPlane (const String& id, const cv::Vec4f &coefs, const Color& color);
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void showPlane (const String& id ,const cv::Vec4f &coefs, const Point3f& pt, const Color& color);
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void showCube (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
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void showCylinder (const String& id, const Point3f& pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color& color);
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void showCircle (const String& id, const Point3f& pt, double radius, const Color& color);
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void showSphere (const String& id, const Point3f& pt, double radius, const Color& color);
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void showArrow (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
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Affine3f getShapePose (const String& id);
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void setShapePose (const String& id, const Affine3f& pose);
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bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
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bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
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bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
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bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
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bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
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bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
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@ -17,11 +17,6 @@ void temp_viz::Viz3d::setBackgroundColor(const Color& color)
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impl_->setBackgroundColor(color);
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impl_->setBackgroundColor(color);
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}
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}
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void temp_viz::Viz3d::addCoordinateSystem(double scale, const Affine3f& t, const String& id)
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{
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impl_->addCoordinateSystem(scale, t, id);
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}
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void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose)
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void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose)
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{
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{
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impl_->showPointCloud(id, cloud, colors, pose);
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impl_->showPointCloud(id, cloud, colors, pose);
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@ -72,61 +67,6 @@ void temp_viz::Viz3d::spinOnce (int time, bool force_redraw)
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impl_->spinOnce(time, force_redraw);
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impl_->spinOnce(time, force_redraw);
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}
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}
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void temp_viz::Viz3d::showLine(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
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{
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impl_->showLine(id, pt1, pt2, color);
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}
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void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coeffs, const Color& color)
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{
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impl_->showPlane(id, coeffs, color);
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}
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void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coeffs, const Point3f& pt, const Color& color)
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{
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impl_->showPlane(id, coeffs, pt, color);
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}
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void temp_viz::Viz3d::showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
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{
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impl_->showCube(id, pt1, pt2, color);
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}
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void temp_viz::Viz3d::showCylinder(const String& id, const Point3f& pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color& color)
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{
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impl_->showCylinder(id, pt_on_axis, axis_direction, radius, num_sides, color);
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}
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void temp_viz::Viz3d::showCircle(const String& id, const Point3f& pt, double radius, const Color& color)
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{
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impl_->showCircle(id, pt, radius, color);
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}
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void temp_viz::Viz3d::showSphere (const String& id, const Point3f& pt, double radius, const Color& color)
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{
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impl_->showSphere(id, pt, radius, color);
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}
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void temp_viz::Viz3d::showArrow (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
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{
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impl_->showArrow(id,pt1,pt2,color);
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}
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cv::Affine3f temp_viz::Viz3d::getShapePose(const String& id)
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{
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return impl_->getShapePose(id);
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}
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void temp_viz::Viz3d::setShapePose(const String& id, const Affine3f &pose)
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{
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impl_->setShapePose(id, pose);
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}
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bool temp_viz::Viz3d::removeCoordinateSystem (const String& id)
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{
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return impl_->removeCoordinateSystem(id);
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}
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void temp_viz::Viz3d::registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie)
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void temp_viz::Viz3d::registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie)
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{
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{
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impl_->registerKeyboardCallback(callback, cookie);
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impl_->registerKeyboardCallback(callback, cookie);
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@ -379,309 +379,6 @@ bool temp_viz::Viz3d::VizImpl::addPointCloudNormals (const cv::Mat &cloud, const
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return (true);
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return (true);
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}
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}
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void temp_viz::Viz3d::VizImpl::showLine (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
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{
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// Check if this Id already exists
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ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
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bool exists = am_it != shape_actor_map_->end();
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// If it exists just update
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if (exists)
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{
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vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
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reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createLine(pt1,pt2));
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Color c = vtkcolor(color);
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actor->GetProperty ()->SetColor (c.val);
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actor->GetMapper ()->ScalarVisibilityOff ();
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actor->Modified ();
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}
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else
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{
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// Create new line
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vtkSmartPointer<vtkDataSet> data = createLine (pt1, pt2);
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// Create an Actor
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vtkSmartPointer<vtkLODActor> actor;
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createActorFromVTKDataSet (data, actor);
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actor->GetProperty ()->SetRepresentationToWireframe ();
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Color c = vtkcolor(color);
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actor->GetProperty ()->SetColor (c.val);
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actor->GetMapper ()->ScalarVisibilityOff ();
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renderer_->AddActor (actor);
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// Save the pointer/ID pair to the global actor map
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(*shape_actor_map_)[id] = actor;
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}
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}
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void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coeffs, const Color& color)
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{
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// Check if this Id already exists
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ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
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bool exists = am_it != shape_actor_map_->end();
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Color c = vtkcolor(color);
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// If it exists just update
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if (exists)
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{
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vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
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reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coeffs));
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actor->GetProperty ()->SetColor (c.val);
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actor->GetMapper ()->ScalarVisibilityOff ();
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actor->Modified ();
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}
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else
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{
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// Create a plane
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vtkSmartPointer<vtkDataSet> data = createPlane (coeffs);
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// Create an Actor
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vtkSmartPointer<vtkLODActor> actor;
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createActorFromVTKDataSet (data, actor);
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// actor->GetProperty ()->SetRepresentationToWireframe ();
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actor->GetProperty ()->SetRepresentationToSurface ();
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actor->GetProperty ()->SetLighting (false);
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actor->GetProperty ()->SetColor (c.val);
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actor->GetMapper ()->ScalarVisibilityOff ();
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renderer_->AddActor(actor);
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// Save the pointer/ID pair to the global actor map
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(*shape_actor_map_)[id] = actor;
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}
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}
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void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coeffs, const Point3f& pt, const Color& color)
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{
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// Check if this Id already exists
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ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
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bool exists = am_it != shape_actor_map_->end();
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Color c = vtkcolor(color);
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// If it exists just update
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if (exists)
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{
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vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
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reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coeffs, pt));
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actor->GetProperty ()->SetColor (c.val);
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actor->GetMapper ()->ScalarVisibilityOff ();
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actor->Modified ();
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}
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else
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{
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// Create a plane
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vtkSmartPointer<vtkDataSet> data = createPlane (coeffs, pt);
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// Create an Actor
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vtkSmartPointer<vtkLODActor> actor;
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createActorFromVTKDataSet (data, actor);
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// actor->GetProperty ()->SetRepresentationToWireframe ();
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actor->GetProperty ()->SetRepresentationToSurface ();
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actor->GetProperty ()->SetLighting (false);
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actor->GetProperty ()->SetColor (c.val);
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actor->GetMapper ()->ScalarVisibilityOff ();
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renderer_->AddActor(actor);
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// Save the pointer/ID pair to the global actor map
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(*shape_actor_map_)[id] = actor;
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}
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}
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void temp_viz::Viz3d::VizImpl::showCube (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
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{
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// Check if this Id already exists
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ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
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bool exists = am_it != shape_actor_map_->end();
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Color c = vtkcolor(color);
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// If it exists just update
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if (exists)
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{
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|
||||||
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
|
|
||||||
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createCube(pt1, pt2));
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
actor->Modified ();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// Create a plane
|
|
||||||
vtkSmartPointer<vtkDataSet> data = createCube (pt1, pt2);
|
|
||||||
|
|
||||||
// Create an Actor
|
|
||||||
vtkSmartPointer<vtkLODActor> actor;
|
|
||||||
createActorFromVTKDataSet (data, actor);
|
|
||||||
// actor->GetProperty ()->SetRepresentationToWireframe ();
|
|
||||||
actor->GetProperty ()->SetRepresentationToSurface ();
|
|
||||||
actor->GetProperty ()->SetLighting (false);
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
renderer_->AddActor(actor);
|
|
||||||
|
|
||||||
// Save the pointer/ID pair to the global actor map
|
|
||||||
(*shape_actor_map_)[id] = actor;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void temp_viz::Viz3d::VizImpl::showCylinder (const String& id, const Point3f& pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color& color)
|
|
||||||
{
|
|
||||||
// Check if this Id already exists
|
|
||||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
|
||||||
bool exists = am_it != shape_actor_map_->end();
|
|
||||||
Color c = vtkcolor(color);
|
|
||||||
// If it exists just update
|
|
||||||
if (exists)
|
|
||||||
{
|
|
||||||
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
|
|
||||||
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createCylinder(pt_on_axis, axis_direction, radius, num_sides));
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
actor->Modified ();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// Create a plane
|
|
||||||
vtkSmartPointer<vtkDataSet> data = createCylinder(pt_on_axis, axis_direction, radius, num_sides);
|
|
||||||
|
|
||||||
// Create an Actor
|
|
||||||
vtkSmartPointer<vtkLODActor> actor;
|
|
||||||
createActorFromVTKDataSet (data, actor);
|
|
||||||
// actor->GetProperty ()->SetRepresentationToWireframe ();
|
|
||||||
actor->GetProperty ()->SetRepresentationToSurface ();
|
|
||||||
actor->GetProperty ()->SetLighting (false);
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
renderer_->AddActor(actor);
|
|
||||||
|
|
||||||
// Save the pointer/ID pair to the global actor map
|
|
||||||
(*shape_actor_map_)[id] = actor;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void temp_viz::Viz3d::VizImpl::showCircle (const String& id, const Point3f& pt, double radius, const Color& color)
|
|
||||||
{
|
|
||||||
// Check if this Id already exists
|
|
||||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
|
||||||
bool exists = am_it != shape_actor_map_->end();
|
|
||||||
Color c = vtkcolor(color);
|
|
||||||
// If it exists just update
|
|
||||||
if (exists)
|
|
||||||
{
|
|
||||||
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
|
|
||||||
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(create2DCircle(pt, radius));
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
actor->Modified ();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// Create a plane
|
|
||||||
vtkSmartPointer<vtkDataSet> data = create2DCircle(pt, radius);
|
|
||||||
|
|
||||||
// Create an Actor
|
|
||||||
vtkSmartPointer<vtkLODActor> actor;
|
|
||||||
createActorFromVTKDataSet (data, actor);
|
|
||||||
// actor->GetProperty ()->SetRepresentationToWireframe ();
|
|
||||||
actor->GetProperty ()->SetRepresentationToSurface ();
|
|
||||||
actor->GetProperty ()->SetLighting (false);
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
renderer_->AddActor(actor);
|
|
||||||
|
|
||||||
// Save the pointer/ID pair to the global actor map
|
|
||||||
(*shape_actor_map_)[id] = actor;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void temp_viz::Viz3d::VizImpl::showSphere (const String& id, const Point3f& pt, double radius, const Color& color)
|
|
||||||
{
|
|
||||||
// Check if this Id already exists
|
|
||||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
|
||||||
bool exists = am_it != shape_actor_map_->end();
|
|
||||||
Color c = vtkcolor(color);
|
|
||||||
// If it exists just update
|
|
||||||
if (exists)
|
|
||||||
{
|
|
||||||
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
|
|
||||||
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createSphere(pt, radius));
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
actor->Modified ();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// Create a plane
|
|
||||||
vtkSmartPointer<vtkDataSet> data = createSphere(pt, radius);
|
|
||||||
|
|
||||||
// Create an Actor
|
|
||||||
vtkSmartPointer<vtkLODActor> actor;
|
|
||||||
createActorFromVTKDataSet (data, actor);
|
|
||||||
// actor->GetProperty ()->SetRepresentationToWireframe ();
|
|
||||||
actor->GetProperty ()->SetRepresentationToSurface ();
|
|
||||||
actor->GetProperty ()->SetLighting (false);
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
renderer_->AddActor(actor);
|
|
||||||
|
|
||||||
// Save the pointer/ID pair to the global actor map
|
|
||||||
(*shape_actor_map_)[id] = actor;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void temp_viz::Viz3d::VizImpl::showArrow (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
|
|
||||||
{
|
|
||||||
// Check if this Id already exists
|
|
||||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
|
||||||
bool exists = am_it != shape_actor_map_->end();
|
|
||||||
Color c = vtkcolor(color);
|
|
||||||
|
|
||||||
// If it exists just update
|
|
||||||
if (exists)
|
|
||||||
{
|
|
||||||
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
|
|
||||||
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createArrow(pt1,pt2));
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
actor->Modified ();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// Create a plane
|
|
||||||
vtkSmartPointer<vtkDataSet> data = createArrow(pt1,pt2);
|
|
||||||
|
|
||||||
// Create an Actor
|
|
||||||
vtkSmartPointer<vtkLODActor> actor;
|
|
||||||
createActorFromVTKDataSet (data, actor);
|
|
||||||
// actor->GetProperty ()->SetRepresentationToWireframe ();
|
|
||||||
actor->GetProperty ()->SetRepresentationToSurface ();
|
|
||||||
actor->GetProperty ()->SetLighting (false);
|
|
||||||
actor->GetProperty ()->SetColor (c.val);
|
|
||||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
|
||||||
renderer_->AddActor(actor);
|
|
||||||
|
|
||||||
// Save the pointer/ID pair to the global actor map
|
|
||||||
(*shape_actor_map_)[id] = actor;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
cv::Affine3f temp_viz::Viz3d::VizImpl::getShapePose (const String& id)
|
|
||||||
{
|
|
||||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
|
||||||
|
|
||||||
CV_Assert(am_it != shape_actor_map_->end());
|
|
||||||
vtkLODActor* actor = vtkLODActor::SafeDownCast(am_it->second);
|
|
||||||
return Affine3f(convertToMatx(actor->GetUserMatrix()));
|
|
||||||
}
|
|
||||||
|
|
||||||
void temp_viz::Viz3d::VizImpl::setShapePose (const String& id, const Affine3f &pose)
|
|
||||||
{
|
|
||||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
|
||||||
CV_Assert(am_it != shape_actor_map_->end());
|
|
||||||
|
|
||||||
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
|
|
||||||
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
|
|
||||||
actor->SetUserMatrix (matrix);
|
|
||||||
actor->Modified ();
|
|
||||||
}
|
|
||||||
|
|
||||||
bool temp_viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
|
bool temp_viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
|
||||||
{
|
{
|
||||||
CV_Assert(mesh.cloud.type() == CV_32FC3 && mesh.cloud.rows == 1 && !mesh.polygons.empty ());
|
CV_Assert(mesh.cloud.type() == CV_32FC3 && mesh.cloud.rows == 1 && !mesh.polygons.empty ());
|
||||||
|
|||||||
@ -139,71 +139,6 @@ void temp_viz::Viz3d::VizImpl::spinOnce (int time, bool force_redraw)
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
void temp_viz::Viz3d::VizImpl::addCoordinateSystem (double scale, const cv::Affine3f& affine, const std::string &id)
|
|
||||||
{
|
|
||||||
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
|
|
||||||
axes->SetOrigin (0, 0, 0);
|
|
||||||
axes->SetScaleFactor (scale);
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
|
|
||||||
axes_colors->Allocate (6);
|
|
||||||
axes_colors->InsertNextValue (0.0);
|
|
||||||
axes_colors->InsertNextValue (0.0);
|
|
||||||
axes_colors->InsertNextValue (0.5);
|
|
||||||
axes_colors->InsertNextValue (0.5);
|
|
||||||
axes_colors->InsertNextValue (1.0);
|
|
||||||
axes_colors->InsertNextValue (1.0);
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
|
|
||||||
axes_data->Update ();
|
|
||||||
axes_data->GetPointData ()->SetScalars (axes_colors);
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
|
|
||||||
axes_tubes->SetInput (axes_data);
|
|
||||||
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
|
|
||||||
axes_tubes->SetNumberOfSides (6);
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
|
|
||||||
axes_mapper->SetScalarModeToUsePointData ();
|
|
||||||
axes_mapper->SetInput (axes_tubes->GetOutput ());
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
|
|
||||||
axes_actor->SetMapper (axes_mapper);
|
|
||||||
|
|
||||||
cv::Vec3d t = affine.translation();
|
|
||||||
axes_actor->SetPosition (t[0], t[1], t[2]);
|
|
||||||
|
|
||||||
cv::Matx33f m = affine.rotation();
|
|
||||||
|
|
||||||
cv::Vec3f rvec;
|
|
||||||
cv::Rodrigues(m, rvec);
|
|
||||||
|
|
||||||
float r_angle = cv::norm(rvec);
|
|
||||||
rvec *= 1.f/r_angle;
|
|
||||||
|
|
||||||
axes_actor->SetOrientation(0,0,0);
|
|
||||||
axes_actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]);
|
|
||||||
renderer_->AddActor (axes_actor);
|
|
||||||
|
|
||||||
(*shape_actor_map_)[id] = axes_actor;
|
|
||||||
}
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
bool temp_viz::Viz3d::VizImpl::removeCoordinateSystem (const std::string &id)
|
|
||||||
{
|
|
||||||
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
|
|
||||||
if (am_it == shape_actor_map_->end ())
|
|
||||||
return false;
|
|
||||||
|
|
||||||
// Remove it from all renderers
|
|
||||||
if (!removeActorFromRenderer(am_it->second))
|
|
||||||
return false;
|
|
||||||
|
|
||||||
shape_actor_map_->erase(am_it);
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////////////
|
/////////////////////////////////////////////////////////////////////////////////////////////
|
||||||
bool temp_viz::Viz3d::VizImpl::removePointCloud (const std::string &id)
|
bool temp_viz::Viz3d::VizImpl::removePointCloud (const std::string &id)
|
||||||
{
|
{
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user