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showPlane with color

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This commit is contained in:
ozantonkal 2013-06-21 14:09:12 +02:00
parent f94c2414e6
commit 93fe2f6e4d
5 changed files with 21 additions and 15 deletions
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4
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -33,8 +33,8 @@ namespace temp_viz
bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud"); bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
void showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color); void showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
void showPlane(const String &id, const Vec4f &coefs); void showPlane(const String &id, const Vec4f &coefs, const Color &color);
void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt); void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color);
bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane"); bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane"); bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");

4
modules/viz/src/q/viz3d_impl.hpp
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@ -139,8 +139,8 @@ public:
} }
void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color); 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); 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); void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color);
bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon"); bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
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, bool display_length, const std::string &id = "arrow");

8
modules/viz/src/viz3d.cpp
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@ -83,14 +83,14 @@ void temp_viz::Viz3d::showLine(const String &id, const Point3f &pt1, const Point
impl_->showLine(id, pt1, pt2, color); impl_->showLine(id, pt1, pt2, color);
} }
void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs) void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Color &color)
{ {
impl_->showPlane(id, coefs); impl_->showPlane(id, coefs, color);
} }
void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Point3f &pt) void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color)
{ {
impl_->showPlane(id, coefs, pt); impl_->showPlane(id, coefs, pt, color);
} }
bool temp_viz::Viz3d::removeCoordinateSystem (const String &id) bool temp_viz::Viz3d::removeCoordinateSystem (const String &id)

16
modules/viz/src/viz3d_impl.cpp
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@ -302,17 +302,19 @@ void temp_viz::Viz3d::VizImpl::showLine (const String &id, const cv::Point3f &pt
} }
} }
void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coefs) void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coefs, const Color &color)
{ {
// Check if this Id already exists // Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id); ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end()); bool exists = (am_it != shape_actor_map_->end());
Color c = vtkcolor(color);
// If it exists just update // If it exists just update
if (exists) if (exists)
{ {
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second); vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs)); reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs));
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->Modified (); actor->Modified ();
} }
else else
@ -326,6 +328,8 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coe
// actor->GetProperty ()->SetRepresentationToWireframe (); // actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetRepresentationToSurface (); actor->GetProperty ()->SetRepresentationToSurface ();
actor->GetProperty ()->SetLighting (false); actor->GetProperty ()->SetLighting (false);
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
renderer_->AddActor(actor); renderer_->AddActor(actor);
// Save the pointer/ID pair to the global actor map // Save the pointer/ID pair to the global actor map
@ -333,17 +337,19 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coe
} }
} }
void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt) void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color)
{ {
// Check if this Id already exists // Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id); ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end()); bool exists = (am_it != shape_actor_map_->end());
Color c = vtkcolor(color);
// If it exists just update // If it exists just update
if (exists) if (exists)
{ {
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second); vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs, pt)); reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs, pt));
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->Modified (); actor->Modified ();
} }
else else
@ -357,6 +363,8 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coe
// actor->GetProperty ()->SetRepresentationToWireframe (); // actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetRepresentationToSurface (); actor->GetProperty ()->SetRepresentationToSurface ();
actor->GetProperty ()->SetLighting (false); actor->GetProperty ()->SetLighting (false);
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
renderer_->AddActor(actor); renderer_->AddActor(actor);
// Save the pointer/ID pair to the global actor map // Save the pointer/ID pair to the global actor map

4
modules/viz/test/test_viz3d.cpp
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@ -93,8 +93,6 @@ TEST(Viz_viz3d, accuracy)
int col_green = 0; int col_green = 0;
int col_red = 0; int col_red = 0;
v.showPlane("plane1", cv::Vec4f(1.0f,1.0f,1.0f,1.0f));
while(!v.wasStopped()) while(!v.wasStopped())
{ {
// Creating new point cloud with id cloud1 // Creating new point cloud with id cloud1
@ -104,7 +102,7 @@ TEST(Viz_viz3d, accuracy)
v.showLine("line2", cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0f-pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red)); v.showLine("line2", cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0f-pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
v.showLine("line3", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, 1.0f-pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red)); v.showLine("line3", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, 1.0f-pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
v.showLine("line4", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, 1.0f-pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red)); v.showLine("line4", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, 1.0f-pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
v.showPlane("plane1", cv::Vec4f(pos_x*pos_y,pos_y,pos_z,pos_x+pos_y*pos_z)); v.showPlane("plane1", cv::Vec4f(pos_x*pos_y,pos_y,pos_z,pos_x+pos_y*pos_z), temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
angle_x += 0.1f; angle_x += 0.1f;
angle_y -= 0.1f; angle_y -= 0.1f;