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showCylinder and showCircle implementations

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This commit is contained in:
ozantonkal 2013-06-26 11:32:12 +02:00
parent 98edabd42c
commit fd6eeac6aa
5 changed files with 43 additions and 1 deletions
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1
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -37,6 +37,7 @@ namespace temp_viz
void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color = Color(255,255,255));
void showCube(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
void showCylinder(const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color = Color(255,255,255));
void showCircle(const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");

1
modules/viz/src/q/viz3d_impl.hpp
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@ -143,6 +143,7 @@ public:
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);
void showCircle (const String &id, const Point3f &pt, double radius, 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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@ -103,6 +103,11 @@ void temp_viz::Viz3d::showCylinder(const String &id, const Point3f &pt_on_axis,
impl_->showCylinder(id, pt_on_axis, axis_direction, radius, num_sides, color);
}
void temp_viz::Viz3d::showCircle(const String &id, const Point3f &pt, double radius, const Color &color)
{
impl_->showCircle(id, pt, radius, color);
}
bool temp_viz::Viz3d::removeCoordinateSystem (const String &id)
{
return impl_->removeCoordinateSystem(id);

35
modules/viz/src/viz3d_impl.cpp
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@ -442,6 +442,41 @@ void temp_viz::Viz3d::VizImpl::showCylinder (const String &id, const Point3f &pt
}
}
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;
}
}
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 ());

2
modules/viz/test/test_viz3d.cpp
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@ -105,7 +105,7 @@ TEST(Viz_viz3d, accuracy)
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));
v.showCube("cube1", cv::Point3f(pos_x, pos_y, pos_z), cv::Point3f(pos_x+0.5, pos_y+0.5, pos_z+0.5), temp_viz::Color(255,150,50));
v.showCylinder("cylinder1", cv::Point3f(0,0,0), cv::Point3f(pos_x, 1.0, 1.0), 0.5, 5*pos_x+3, temp_viz::Color(0,255,0));
v.showCircle("circle1", cv::Point3f(0,0,0), fabs(pos_x), temp_viz::Color(0,255,0));
angle_x += 0.1f;
angle_y -= 0.1f;