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clean unnecessary methods, make text3d face camera

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This commit is contained in:
ozantonkal 2013-07-11 09:30:52 +02:00
parent 5813a3a99d
commit eef8195569
5 changed files with 7 additions and 544 deletions
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5
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -26,16 +26,11 @@ namespace temp_viz
void setBackgroundColor(const Color& color = Color::black()); void setBackgroundColor(const Color& color = Color::black());
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline"); bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon"); bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
void spin (); void spin ();

21
modules/viz/src/q/viz3d_impl.hpp
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@ -52,36 +52,15 @@ public:
void setBackgroundColor (const Color& color); void setBackgroundColor (const Color& color);
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
bool updateText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
/** \brief Set the pose of an existing shape. Returns false if the shape doesn't exist, true if the pose was succesfully updated. */
bool updateShapePose (const String& id, const Affine3f& pose);
bool addText3D (const String &text, const Point3f &position, const Color& color, double textScale = 1.0, const String& id = "");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
/** \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 String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon"); bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon"); bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline"); bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
void setPointCloudColor (const Color& color, const String& id = "cloud");
bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud"); bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud"); bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
bool setShapeRenderingProperties (int property, double value, const String& id); bool setShapeRenderingProperties (int property, double value, const String& id);
void setShapeColor (const Color& color, const String& id);
/** \brief Set whether the point cloud is selected or not /** \brief Set whether the point cloud is selected or not
* \param[in] selected whether the cloud is selected or not (true = selected) * \param[in] selected whether the cloud is selected or not (true = selected)

20
modules/viz/src/viz3d.cpp
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@ -17,21 +17,6 @@ void temp_viz::Viz3d::setBackgroundColor(const Color& color)
impl_->setBackgroundColor(color); impl_->setBackgroundColor(color);
} }
void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose)
{
impl_->showPointCloud(id, cloud, colors, pose);
}
void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose)
{
impl_->showPointCloud(id, cloud, color, pose);
}
bool temp_viz::Viz3d::addPointCloudNormals (const Mat &cloud, const Mat& normals, int level, float scale, const String& id)
{
return impl_->addPointCloudNormals(cloud, normals, level, scale, id);
}
bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id) bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id)
{ {
return impl_->addPolygonMesh(mesh, Mat(), id); return impl_->addPolygonMesh(mesh, Mat(), id);
@ -47,11 +32,6 @@ bool temp_viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const Stri
return impl_->addPolylineFromPolygonMesh(mesh, id); return impl_->addPolylineFromPolygonMesh(mesh, id);
} }
bool temp_viz::Viz3d::addText (const String &text, int xpos, int ypos, const Color& color, int fontsize, const String& id)
{
return impl_->addText(text, xpos, ypos, color, fontsize, id);
}
bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id) bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id)
{ {
return impl_->addPolygon(cloud, color, id); return impl_->addPolygon(cloud, color, id);

392
modules/viz/src/viz3d_impl.cpp
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@ -36,347 +36,6 @@ void temp_viz::Viz3d::VizImpl::setWindowName (const std::string &name)
void temp_viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); } void temp_viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); }
void temp_viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); } void temp_viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); }
void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _cloud, InputArray _colors, const Affine3f& pose)
{
Mat cloud = _cloud.getMat();
Mat colors = _colors.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
vtkSmartPointer<vtkPolyData> polydata;
vtkSmartPointer<vtkCellArray> vertices;
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkIdTypeArray> initcells;
vtkIdType nr_points = cloud.total();
// If the cloud already exists, update otherwise create new one
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
bool exist = am_it == cloud_actor_map_->end();
if (exist)
{
// Add as new cloud
allocVtkPolyData(polydata);
//polydata = vtkSmartPointer<vtkPolyData>::New ();
vertices = vtkSmartPointer<vtkCellArray>::New ();
polydata->SetVerts (vertices);
points = polydata->GetPoints ();
if (!points)
{
points = vtkSmartPointer<vtkPoints>::New ();
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble();
polydata->SetPoints (points);
}
points->SetNumberOfPoints (nr_points);
}
else
{
// Update the cloud
// Get the current poly data
polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
vertices = polydata->GetVerts ();
points = polydata->GetPoints ();
// Update the point data type based on the cloud
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat ();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble ();
points->SetNumberOfPoints (nr_points);
}
if (cloud.depth() == CV_32F)
{
// Get a pointer to the beginning of the data array
Vec3f *data_beg = vtkpoints_data<float>(points);
Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
nr_points = data_end - data_beg;
}
else if (cloud.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data_beg = vtkpoints_data<double>(points);
Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
nr_points = data_end - data_beg;
}
points->SetNumberOfPoints (nr_points);
vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
if (exist)
updateCells (cells, initcells, nr_points);
else
updateCells (cells, am_it->second.cells, nr_points);
// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
// Get a random color
Vec3b* colors_data = new Vec3b[nr_points];
NanFilter::copy(colors, colors_data, cloud);
vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);
scalars->SetNumberOfTuples (nr_points);
scalars->SetArray (colors_data->val, 3 * nr_points, 0);
// Assign the colors
Vec2d minmax;
polydata->GetPointData ()->SetScalars (scalars);
scalars->GetRange (minmax.val);
// If this is the new point cloud, a new actor is created
if (exist)
{
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (polydata, actor);
actor->GetMapper ()->SetScalarRange (minmax.val);
// Add it to all renderers
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*cloud_actor_map_)[id].actor = actor;
(*cloud_actor_map_)[id].cells = initcells;
const Eigen::Vector4f sensor_origin = Eigen::Vector4f::Zero ();
const Eigen::Quaternionf sensor_orientation = Eigen::Quaternionf::Identity ();
// Save the viewpoint transformation matrix to the global actor map
vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New();
convertToVtkMatrix (sensor_origin, sensor_orientation, transformation);
(*cloud_actor_map_)[id].viewpoint_transformation_ = transformation;
}
else
{
// Update the mapper
reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
am_it->second.actor->GetMapper ()->ScalarVisibilityOn();
am_it->second.actor->Modified ();
}
}
void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _cloud, const Color& color, const Affine3f& pose)
{
Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
vtkSmartPointer<vtkPolyData> polydata;
vtkSmartPointer<vtkCellArray> vertices;
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkIdTypeArray> initcells;
vtkIdType nr_points = cloud.total();
// If the cloud already exists, update otherwise create new one
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
bool exist = am_it == cloud_actor_map_->end();
if (exist)
{
// Add as new cloud
allocVtkPolyData(polydata);
//polydata = vtkSmartPointer<vtkPolyData>::New ();
vertices = vtkSmartPointer<vtkCellArray>::New ();
polydata->SetVerts (vertices);
points = polydata->GetPoints ();
if (!points)
{
points = vtkSmartPointer<vtkPoints>::New ();
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble();
polydata->SetPoints (points);
}
points->SetNumberOfPoints (nr_points);
}
else
{
// Update the cloud
// Get the current poly data
polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
vertices = polydata->GetVerts ();
points = polydata->GetPoints ();
// Update the point data type based on the cloud
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat ();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble ();
points->SetNumberOfPoints (nr_points);
}
if (cloud.depth() == CV_32F)
{
// Get a pointer to the beginning of the data array
Vec3f *data_beg = vtkpoints_data<float>(points);
Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
nr_points = data_end - data_beg;
}
else if (cloud.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data_beg = vtkpoints_data<double>(points);
Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
nr_points = data_end - data_beg;
}
points->SetNumberOfPoints (nr_points);
vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
if (exist)
updateCells (cells, initcells, nr_points);
else
updateCells (cells, am_it->second.cells, nr_points);
// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
// Get a random color
Color c = vtkcolor(color);
polydata->GetPointData ()->SetScalars (0);
// If this is the new point cloud, a new actor is created
if (exist)
{
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (polydata, actor, false);
actor->GetProperty ()->SetColor(c.val);
// Add it to all renderers
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*cloud_actor_map_)[id].actor = actor;
(*cloud_actor_map_)[id].cells = initcells;
const Eigen::Vector4f sensor_origin = Eigen::Vector4f::Zero ();
const Eigen::Quaternionf sensor_orientation = Eigen::Quaternionf::Identity ();
// Save the viewpoint transformation matrix to the global actor map
vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New();
convertToVtkMatrix (sensor_origin, sensor_orientation, transformation);
(*cloud_actor_map_)[id].viewpoint_transformation_ = transformation;
}
else
{
// Update the mapper
reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
am_it->second.actor->GetProperty ()->SetColor(c.val);
am_it->second.actor->GetMapper ()->ScalarVisibilityOff();
am_it->second.actor->Modified ();
}
}
bool temp_viz::Viz3d::VizImpl::addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level, float scale, const std::string &id)
{
CV_Assert(cloud.size() == normals.size() && cloud.type() == CV_32FC3 && normals.type() == CV_32FC3);
if (cloud_actor_map_->find (id) != cloud_actor_map_->end ())
return false;
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
points->SetDataTypeToFloat ();
vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
data->SetNumberOfComponents (3);
vtkIdType nr_normals = 0;
float* pts = 0;
// If the cloud is organized, then distribute the normal step in both directions
if (cloud.cols > 1 && cloud.rows > 1)
{
vtkIdType point_step = static_cast<vtkIdType> (sqrt (double (level)));
nr_normals = (static_cast<vtkIdType> ((cloud.cols - 1)/ point_step) + 1) *
(static_cast<vtkIdType> ((cloud.rows - 1) / point_step) + 1);
pts = new float[2 * nr_normals * 3];
vtkIdType cell_count = 0;
for (vtkIdType y = 0; y < cloud.rows; y += point_step)
for (vtkIdType x = 0; x < cloud.cols; x += point_step)
{
cv::Point3f p = cloud.at<cv::Point3f>(y, x);
cv::Point3f n = normals.at<cv::Point3f>(y, x) * scale;
pts[2 * cell_count * 3 + 0] = p.x;
pts[2 * cell_count * 3 + 1] = p.y;
pts[2 * cell_count * 3 + 2] = p.z;
pts[2 * cell_count * 3 + 3] = p.x + n.x;
pts[2 * cell_count * 3 + 4] = p.y + n.y;
pts[2 * cell_count * 3 + 5] = p.z + n.z;
lines->InsertNextCell (2);
lines->InsertCellPoint (2 * cell_count);
lines->InsertCellPoint (2 * cell_count + 1);
cell_count++;
}
}
else
{
nr_normals = (cloud.size().area() - 1) / level + 1 ;
pts = new float[2 * nr_normals * 3];
for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level)
{
cv::Point3f p = cloud.ptr<cv::Point3f>()[i];
cv::Point3f n = normals.ptr<cv::Point3f>()[i] * scale;
pts[2 * j * 3 + 0] = p.x;
pts[2 * j * 3 + 1] = p.y;
pts[2 * j * 3 + 2] = p.z;
pts[2 * j * 3 + 3] = p.x + n.x;
pts[2 * j * 3 + 4] = p.y + n.y;
pts[2 * j * 3 + 5] = p.z + n.z;
lines->InsertNextCell (2);
lines->InsertCellPoint (2 * j);
lines->InsertCellPoint (2 * j + 1);
}
}
data->SetArray (&pts[0], 2 * nr_normals * 3, 0);
points->SetData (data);
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
polyData->SetPoints (points);
polyData->SetLines (lines);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput (polyData);
mapper->SetColorModeToMapScalars();
mapper->SetScalarModeToUsePointData();
// create actor
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
actor->SetMapper (mapper);
// Add it to all renderers
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*cloud_actor_map_)[id].actor = actor;
return (true);
}
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 ());
@ -742,50 +401,6 @@ bool temp_viz::Viz3d::VizImpl::addArrow (const cv::Point3f &p1, const cv::Point3
return (true); return (true);
} }
//////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addText3D (const std::string &text, const cv::Point3f& position, const Color& color, double textScale, const std::string &id)
{
std::string tid;
if (id.empty ())
tid = text;
else
tid = id;
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
if (am_it != shape_actor_map_->end ())
return std::cout << "[addText3d] A text with id <" << tid << "> already exists! Please choose a different id and retry." << std::endl, false;
vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New ();
textSource->SetText (text.c_str());
textSource->Update ();
vtkSmartPointer<vtkPolyDataMapper> textMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
textMapper->SetInputConnection (textSource->GetOutputPort ());
// Since each follower may follow a different camera, we need different followers
vtkRenderer* renderer = renderer_;
vtkSmartPointer<vtkFollower> textActor = vtkSmartPointer<vtkFollower>::New ();
textActor->SetMapper (textMapper);
textActor->SetPosition (position.x, position.y, position.z);
textActor->SetScale (textScale);
Color c = vtkcolor(color);
textActor->GetProperty ()->SetColor (c.val);
textActor->SetCamera (renderer->GetActiveCamera ());
renderer->AddActor (textActor);
renderer->Render ();
// Save the pointer/ID pair to the global actor map. If we are saving multiple vtkFollowers
// for multiple viewport
(*shape_actor_map_)[tid] = textActor;
return (true);
}
bool temp_viz::Viz3d::VizImpl::addPolygon (const cv::Mat& cloud, const Color& color, const std::string &id) bool temp_viz::Viz3d::VizImpl::addPolygon (const cv::Mat& cloud, const Color& color, const std::string &id)
{ {
CV_Assert(cloud.type() == CV_32FC3 && cloud.rows == 1); CV_Assert(cloud.type() == CV_32FC3 && cloud.rows == 1);
@ -882,6 +497,13 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
actor->SetUserMatrix (matrix); actor->SetUserMatrix (matrix);
actor->Modified(); actor->Modified();
} }
// If the actor is a vtkFollower, then it should always face the camera
vtkFollower *follower = vtkFollower::SafeDownCast(actor);
if (follower)
{
follower->SetCamera(renderer_->GetActiveCamera());
}
renderer_->AddActor(WidgetAccessor::getProp(widget)); renderer_->AddActor(WidgetAccessor::getProp(widget));
(*widget_actor_map_)[id].actor = WidgetAccessor::getProp(widget); (*widget_actor_map_)[id].actor = WidgetAccessor::getProp(widget);
} }

113
modules/viz/src/viz_main.cpp
View File

@ -350,21 +350,6 @@ void temp_viz::Viz3d::VizImpl::setBackgroundColor (const Color& color)
renderer_->SetBackground (c.val); renderer_->SetBackground (c.val);
} }
/////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::setPointCloudColor (const Color& color, const std::string &id)
{
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
if (am_it != cloud_actor_map_->end ())
{
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->Modified ();
}
}
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::getPointCloudRenderingProperties (int property, double &value, const std::string &id) bool temp_viz::Viz3d::VizImpl::getPointCloudRenderingProperties (int property, double &value, const std::string &id)
{ {
@ -470,26 +455,6 @@ bool temp_viz::Viz3d::VizImpl::setPointCloudSelected (const bool selected, const
return true; return true;
} }
/////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::setShapeColor (const Color& color, const std::string &id)
{
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
Color c = vtkcolor(color);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->GetProperty ()->SetColor (c.val);
actor->GetProperty ()->SetEdgeColor (c.val);
actor->GetProperty ()->SetAmbient (0.8);
actor->GetProperty ()->SetDiffuse (0.8);
actor->GetProperty ()->SetSpecular (0.8);
actor->GetProperty ()->SetLighting (0);
actor->Modified ();
}
}
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::setShapeRenderingProperties (int property, double value, const std::string &id) bool temp_viz::Viz3d::VizImpl::setShapeRenderingProperties (int property, double value, const std::string &id)
{ {
@ -618,28 +583,6 @@ void temp_viz::Viz3d::VizImpl::updateCamera ()
renderer_->Render (); renderer_->Render ();
} }
/////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::updateShapePose (const std::string &id, const cv::Affine3f& pose)
{
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
vtkLODActor* actor;
if (am_it == shape_actor_map_->end ())
return (false);
else
actor = vtkLODActor::SafeDownCast (am_it->second);
vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
convertToVtkMatrix (pose.matrix, matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
return (true);
}
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::getCameras (temp_viz::Camera& camera) void temp_viz::Viz3d::VizImpl::getCameras (temp_viz::Camera& camera)
{ {
@ -916,62 +859,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
return (true); return (true);
} }
/////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
{
std::string tid = id.empty() ? text : id;
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
if (am_it != shape_actor_map_->end ())
return std::cout << "[addText] A text with id <"<<id <<"> already exists! Please choose a different id and retry.\n" << std::endl, false;
// Create an Actor
vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New ();
actor->SetPosition (xpos, ypos);
actor->SetInput (text.c_str ());
vtkSmartPointer<vtkTextProperty> tprop = actor->GetTextProperty ();
tprop->SetFontSize (fontsize);
tprop->SetFontFamilyToArial ();
tprop->SetJustificationToLeft ();
tprop->BoldOn ();
Color c = vtkcolor(color);
tprop->SetColor (c.val);
renderer_->AddActor(actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[tid] = actor;
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::updateText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
{
std::string tid = id.empty() ? text : id;
ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
if (am_it == shape_actor_map_->end ())
return false;
// Retrieve the Actor
vtkTextActor *actor = vtkTextActor::SafeDownCast (am_it->second);
actor->SetPosition (xpos, ypos);
actor->SetInput (text.c_str ());
vtkTextProperty* tprop = actor->GetTextProperty ();
tprop->SetFontSize (fontsize);
Color c = vtkcolor(color);
tprop->SetColor (c.val);
actor->Modified ();
return (true);
}
bool temp_viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id) bool temp_viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id)
{ {
CV_Assert(mesh.cloud.rows == 1 && mesh.cloud.type() == CV_32FC3); CV_Assert(mesh.cloud.rows == 1 && mesh.cloud.type() == CV_32FC3);