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showPointCloud initial implementation together with test

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This commit is contained in:
ozantonkal
2013-06-07 11:18:26 +02:00
parent ace0933bed
commit d11d07aaf5
5 changed files with 195 additions and 301 deletions
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10
modules/viz/src/q/viz3d_impl.hpp
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@@ -96,8 +96,14 @@ public:
bool addText3D (const std::string &text, const cv::Point3f &position, const Color& color, double textScale = 1.0, const std::string &id = "");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const std::string &id = "cloud");
void addPointCloud(const cv::Mat& cloud, const cv::Mat& colors, const std::string& id = "cloud", const cv::Mat& mask = cv::Mat());
bool updatePointCloud (const cv::Mat& cloud, const cv::Mat& colors, const std::string& id = "cloud", const cv::Mat& mask = cv::Mat());
/** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene
* \param[in] id a variable to identify the point cloud
* \param[in] cloud cloud input in x,y,z coordinates
* \param[in] colors color input in the same order of the points or single uniform color
* \param[in] pose transform to be applied on the point cloud
*/
void showPointCloud(const std::string& id, cv::InputArray cloud, cv::InputArray colors, const cv::Affine3f& pose = cv::Affine3f::Identity());
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");