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 showPlane(const String &id, const Vec4f &coefs, const Color &color);
- void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color);
- void showCube(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 = Color(255,255,255));
+ void showPlane(const String &id, const Vec4f &coefs, const Color &color = Color(255,255,255));
+ 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));
bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");
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");
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);
}
}
+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)
{
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), 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));
+
angle_x += 0.1f;
angle_y -= 0.1f;