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));
+ void showSphere (const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
Affine3f getShapePose(const String &id);
bool setShapePose(const String &id, const Affine3f &pose);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const Vec4f& coefs, const Point3f& pt);
CV_EXPORTS vtkSmartPointer<vtkDataSet> create2DCircle (const Point3f& pt, double radius);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube(const Point3f& pt_min, const Point3f& pt_max);
+ CV_EXPORTS vtkSmartPointer<vtkDataSet> createSphere (const Point3f& pt, double radius);
// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Point3f& pt, const Quaternionf& qt, );
// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth);
// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max);
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);
+ void showSphere (const String &id, const Point3f &pt, double radius, const Color &color);
+
Affine3f getShapePose (const String &id);
bool setShapePose (const String &id, const Affine3f &pose);
return (cube->GetOutput ());
}
+vtkSmartPointer<vtkDataSet> temp_viz::createSphere (const Point3f& pt, double radius)
+{
+ vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New ();
+ sphere->SetRadius (radius);
+ sphere->SetCenter (pt.x, pt.y, pt.z);
+ sphere->SetPhiResolution (10);
+ sphere->SetThetaResolution (10);
+ sphere->LatLongTessellationOff ();
+ sphere->Update ();
+
+ return (sphere->GetOutput ());
+}
+
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createCylinder (const temp_viz::ModelCoefficients &coefficients, int numsides)
{
impl_->showCircle(id, pt, radius, color);
}
+void temp_viz::Viz3d::showSphere (const String &id, const Point3f &pt, double radius, const Color &color)
+{
+ impl_->showSphere(id, pt, radius, color);
+}
+
cv::Affine3f temp_viz::Viz3d::getShapePose(const String &id)
{
return impl_->getShapePose(id);
}
}
+void temp_viz::Viz3d::VizImpl::showSphere (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(createSphere(pt, radius));
+ actor->GetProperty ()->SetColor (c.val);
+ actor->GetMapper ()->ScalarVisibilityOff ();
+ actor->Modified ();
+ }
+ else
+ {
+ // Create a plane
+ vtkSmartPointer<vtkDataSet> data = createSphere(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;
+ }
+}
+
cv::Affine3f temp_viz::Viz3d::VizImpl::getShapePose (const String &id)
{
// Get the shape with the id and return the pose
if (!exists)
{
- std::cout << "[getShapePose] A shape with id " << id << " does not exist!" << std::endl;
+ std::cout << "[getShapePose] A shape with id <" << id << "> does not exist!" << std::endl;
return Affine3f();
}
int col_blue = 0;
int col_green = 0;
int col_red = 0;
- v.showCircle("circle1", cv::Point3f(0,0,0), fabs(1.0f), temp_viz::Color(0,255,0));
+ v.showCircle("circle1", cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
+ v.showSphere("sphere1", cv::Point3f(0,0,0), 0.5, temp_viz::Color(0,0,255));
while(!v.wasStopped())
{
// 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.setShapePose("circle1", cloudPosition);
+ v.setShapePose("sphere1", cloudPosition);
angle_x += 0.1f;
angle_y -= 0.1f;