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showCylinder implementation

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This commit is contained in:
ozantonkal
2013-06-26 11:13:34 +02:00
parent 55683e7b3b
commit 98edabd42c
5 changed files with 47 additions and 4 deletions
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1
modules/viz/src/q/viz3d_impl.hpp
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@@ -142,6 +142,7 @@ public:
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);
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");

5
modules/viz/src/viz3d.cpp
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@@ -98,6 +98,11 @@ void temp_viz::Viz3d::showCube(const String &id, const Point3f &pt1, const Point
impl_->showCube(id, pt1, pt2, color);
}
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)
{
impl_->showCylinder(id, pt_on_axis, axis_direction, radius, num_sides, color);
}
bool temp_viz::Viz3d::removeCoordinateSystem (const String &id)
{
return impl_->removeCoordinateSystem(id);

34
modules/viz/src/viz3d_impl.cpp
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@@ -407,6 +407,40 @@ void temp_viz::Viz3d::VizImpl::showCube (const String &id, const Point3f &pt1, c
}
}
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;
}
}
bool temp_viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
{