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pcl_visualizer.cpp
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <pcl/visualization/common/common.h>
#include <pcl/conversions.h>
#include <vtkVersion.h>
#include <vtkTextActor.h>
#include <vtkTextProperty.h>
#include <vtkCellData.h>
#include <vtkWorldPointPicker.h>
#include <vtkPropPicker.h>
#include <vtkPlatonicSolidSource.h>
#include <vtkLoopSubdivisionFilter.h>
#include <vtkTriangle.h>
#include <vtkTransform.h>
#include <vtkPolyDataNormals.h>
#include <vtkMapper.h>
#include <vtkDataSetMapper.h>
#if VTK_MAJOR_VERSION>=6 || (VTK_MAJOR_VERSION==5 && VTK_MINOR_VERSION>4)
#include <vtkHardwareSelector.h>
#include <vtkSelectionNode.h>
#else
#include <vtkVisibleCellSelector.h>
#endif
#include <vtkSelection.h>
#include <vtkPointPicker.h>
#include <pcl/visualization/boost.h>
#include <pcl/visualization/vtk/vtkRenderWindowInteractorFix.h>
#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
#endif
#include <vtkPolyLine.h>
#include <vtkPolyDataMapper.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkRendererCollection.h>
#include <vtkCamera.h>
#include <vtkAppendPolyData.h>
#include <vtkPointData.h>
#include <vtkTransformFilter.h>
#include <vtkProperty.h>
#include <vtkPLYReader.h>
#include <vtkAxes.h>
#include <vtkTubeFilter.h>
#include <vtkOrientationMarkerWidget.h>
#include <vtkAxesActor.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkAreaPicker.h>
#include <vtkXYPlotActor.h>
#include <vtkOpenGLRenderWindow.h>
#include <vtkJPEGReader.h>
#include <vtkBMPReader.h>
#include <vtkPNMReader.h>
#include <vtkPNGReader.h>
#include <vtkTIFFReader.h>
#include <vtkLookupTable.h>
#include <vtkTextureUnitManager.h>
#include <pcl/visualization/common/shapes.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/common/common.h>
#include <pcl/common/time.h>
#include <boost/uuid/sha1.hpp>
#include <boost/filesystem.hpp>
#include <pcl/console/parse.h>
// Support for VTK 7.1 upwards
#ifdef vtkGenericDataArray_h
#define SetTupleValue SetTypedTuple
#define InsertNextTupleValue InsertNextTypedTuple
#define GetTupleValue GetTypedTuple
#endif
#if defined(_WIN32)
// Remove macros defined in Windows.h
#undef near
#undef far
#endif
/////////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PCLVisualizer::PCLVisualizer (const std::string &name, const bool create_interactor)
: interactor_ ()
, update_fps_ (vtkSmartPointer<FPSCallback>::New ())
#if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
, stopped_ ()
, timer_id_ ()
#endif
, exit_main_loop_timer_callback_ ()
, exit_callback_ ()
, rens_ (vtkSmartPointer<vtkRendererCollection>::New ())
, win_ ()
, style_ (vtkSmartPointer<pcl::visualization::PCLVisualizerInteractorStyle>::New ())
, cloud_actor_map_ (new CloudActorMap)
, shape_actor_map_ (new ShapeActorMap)
, coordinate_actor_map_ (new CoordinateActorMap)
, camera_set_ ()
, camera_file_loaded_ (false)
{
// Create a Renderer
vtkSmartPointer<vtkRenderer> ren = vtkSmartPointer<vtkRenderer>::New ();
ren->AddObserver (vtkCommand::EndEvent, update_fps_);
// Add it to the list of renderers
rens_->AddItem (ren);
// FPS callback
vtkSmartPointer<vtkTextActor> txt = vtkSmartPointer<vtkTextActor>::New ();
update_fps_->actor = txt;
update_fps_->pcl_visualizer = this;
update_fps_->decimated = false;
ren->AddActor (txt);
txt->SetInput("0 FPS");
// Create a RendererWindow
win_ = vtkSmartPointer<vtkRenderWindow>::New ();
win_->SetWindowName (name.c_str ());
// Get screen size
int scr_size_x = win_->GetScreenSize ()[0];
int scr_size_y = win_->GetScreenSize ()[1];
// Set the window size as 1/2 of the screen size
win_->SetSize (scr_size_x / 2, scr_size_y / 2);
// By default, don't use vertex buffer objects
use_vbos_ = false;
// Add all renderers to the window
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
while ((renderer = rens_->GetNextItem ()) != NULL)
win_->AddRenderer (renderer);
// Set renderer window in case no interactor is created
style_->setRenderWindow (win_);
// Create the interactor style
style_->Initialize ();
style_->setRendererCollection (rens_);
style_->setCloudActorMap (cloud_actor_map_);
style_->setShapeActorMap (shape_actor_map_);
style_->UseTimersOn ();
style_->setUseVbos(use_vbos_);
if (create_interactor)
createInteractor ();
win_->SetWindowName (name.c_str ());
}
/////////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PCLVisualizer::PCLVisualizer (int &argc, char **argv, const std::string &name, PCLVisualizerInteractorStyle* style, const bool create_interactor)
: interactor_ ()
, update_fps_ (vtkSmartPointer<FPSCallback>::New ())
#if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
, stopped_ ()
, timer_id_ ()
#endif
, exit_main_loop_timer_callback_ ()
, exit_callback_ ()
, rens_ (vtkSmartPointer<vtkRendererCollection>::New ())
, win_ ()
, style_ (style)
, cloud_actor_map_ (new CloudActorMap)
, shape_actor_map_ (new ShapeActorMap)
, coordinate_actor_map_ (new CoordinateActorMap)
, camera_set_ ()
, camera_file_loaded_ (false)
{
// Create a Renderer
vtkSmartPointer<vtkRenderer> ren = vtkSmartPointer<vtkRenderer>::New ();
ren->AddObserver (vtkCommand::EndEvent, update_fps_);
// Add it to the list of renderers
rens_->AddItem (ren);
// FPS callback
vtkSmartPointer<vtkTextActor> txt = vtkSmartPointer<vtkTextActor>::New ();
update_fps_->actor = txt;
update_fps_->pcl_visualizer = this;
update_fps_->decimated = false;
ren->AddActor (txt);
txt->SetInput("0 FPS");
// Create a RendererWindow
win_ = vtkSmartPointer<vtkRenderWindow>::New ();
win_->SetWindowName (name.c_str ());
// By default, don't use vertex buffer objects
use_vbos_ = false;
// Add all renderers to the window
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
while ((renderer = rens_->GetNextItem ()) != NULL)
win_->AddRenderer (renderer);
// Set renderer window in case no interactor is created
style_->setRenderWindow (win_);
// Create the interactor style
style_->Initialize ();
style_->setRendererCollection (rens_);
style_->setCloudActorMap (cloud_actor_map_);
style_->setShapeActorMap (shape_actor_map_);
style_->UseTimersOn ();
// Get screen size
int scr_size_x = win_->GetScreenSize ()[0];
int scr_size_y = win_->GetScreenSize ()[1];
// Set default camera parameters
initCameraParameters ();
// Parse the camera settings and update the internal camera
camera_set_ = getCameraParameters (argc, argv);
// Calculate unique camera filename for camera parameter saving/restoring
if (!camera_set_)
{
std::string camera_file = getUniqueCameraFile (argc, argv);
if (!camera_file.empty ())
{
if (boost::filesystem::exists (camera_file) && style_->loadCameraParameters (camera_file))
{
camera_file_loaded_ = true;
}
else
{
style_->setCameraFile (camera_file);
}
}
}
// Set the window size as 1/2 of the screen size or the user given parameter
if (!camera_set_ && !camera_file_loaded_)
{
win_->SetSize (scr_size_x/2, scr_size_y/2);
win_->SetPosition (0, 0);
}
if (create_interactor)
createInteractor ();
win_->SetWindowName (name.c_str ());
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::createInteractor ()
{
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
interactor_ = vtkSmartPointer<PCLVisualizerInteractor>::New ();
#else
//interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New ();
interactor_ = vtkSmartPointer <vtkRenderWindowInteractor>::Take (vtkRenderWindowInteractorFixNew ());
#endif
//win_->PointSmoothingOn ();
//win_->LineSmoothingOn ();
//win_->PolygonSmoothingOn ();
win_->AlphaBitPlanesOff ();
win_->PointSmoothingOff ();
win_->LineSmoothingOff ();
win_->PolygonSmoothingOff ();
win_->SwapBuffersOn ();
win_->SetStereoTypeToAnaglyph ();
interactor_->SetRenderWindow (win_);
interactor_->SetInteractorStyle (style_);
//interactor_->SetStillUpdateRate (30.0);
interactor_->SetDesiredUpdateRate (30.0);
// Initialize and create timer, also create window
interactor_->Initialize ();
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
interactor_->timer_id_ = interactor_->CreateRepeatingTimer (5000L);
#else
timer_id_ = interactor_->CreateRepeatingTimer (5000L);
#endif
// Set a simple PointPicker
vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
pp->SetTolerance (pp->GetTolerance () * 2);
interactor_->SetPicker (pp);
exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New ();
exit_main_loop_timer_callback_->pcl_visualizer = this;
exit_main_loop_timer_callback_->right_timer_id = -1;
interactor_->AddObserver (vtkCommand::TimerEvent, exit_main_loop_timer_callback_);
exit_callback_ = vtkSmartPointer<ExitCallback>::New ();
exit_callback_->pcl_visualizer = this;
interactor_->AddObserver (vtkCommand::ExitEvent, exit_callback_);
resetStoppedFlag ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::setupInteractor (
vtkRenderWindowInteractor *iren,
vtkRenderWindow *win)
{
win->AlphaBitPlanesOff ();
win->PointSmoothingOff ();
win->LineSmoothingOff ();
win->PolygonSmoothingOff ();
win->SwapBuffersOn ();
win->SetStereoTypeToAnaglyph ();
iren->SetRenderWindow (win);
iren->SetInteractorStyle (style_);
//iren->SetStillUpdateRate (30.0);
iren->SetDesiredUpdateRate (30.0);
// Initialize and create timer, also create window
iren->Initialize ();
// Set a simple PointPicker
vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
pp->SetTolerance (pp->GetTolerance () * 2);
iren->SetPicker (pp);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::setupInteractor (
vtkRenderWindowInteractor *iren,
vtkRenderWindow *win,
vtkInteractorStyle *style)
{
win->AlphaBitPlanesOff ();
win->PointSmoothingOff ();
win->LineSmoothingOff ();
win->PolygonSmoothingOff ();
win->SwapBuffersOn ();
win->SetStereoTypeToAnaglyph ();
iren->SetRenderWindow (win);
iren->SetInteractorStyle (style);
//iren->SetStillUpdateRate (30.0);
iren->SetDesiredUpdateRate (30.0);
// Initialize and create timer, also create window
iren->Initialize ();
// Set a simple PointPicker
// vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
// pp->SetTolerance (pp->GetTolerance () * 2);
// iren->SetPicker (pp);
}
/////////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PCLVisualizer::~PCLVisualizer ()
{
if (interactor_ != NULL)
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 4))
interactor_->DestroyTimer (interactor_->timer_id_);
#else
interactor_->DestroyTimer (timer_id_);
#endif
// Clear the collections
rens_->RemoveAllItems ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::saveScreenshot (const std::string &file)
{
style_->saveScreenshot (file);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::saveCameraParameters (const std::string &file)
{
style_->saveCameraParameters (file);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::getCameraParameters (pcl::visualization::Camera &camera)
{
style_->getCameraParameters (camera);
}
/////////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::PCLVisualizer::registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> callback)
{
return (style_->registerKeyboardCallback (callback));
}
/////////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::PCLVisualizer::registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> callback)
{
return (style_->registerMouseCallback (callback));
}
/////////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::PCLVisualizer::registerPointPickingCallback (boost::function<void (const pcl::visualization::PointPickingEvent&)> callback)
{
return (style_->registerPointPickingCallback (callback));
}
/////////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::PCLVisualizer::registerPointPickingCallback (void (*callback) (const pcl::visualization::PointPickingEvent&, void*), void* cookie)
{
return (registerPointPickingCallback (boost::bind (callback, _1, cookie)));
}
/////////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::PCLVisualizer::registerAreaPickingCallback (boost::function<void (const pcl::visualization::AreaPickingEvent&)> callback)
{
return (style_->registerAreaPickingCallback (callback));
}
/////////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::PCLVisualizer::registerAreaPickingCallback (void (*callback) (const pcl::visualization::AreaPickingEvent&, void*), void* cookie)
{
return (registerAreaPickingCallback (boost::bind (callback, _1, cookie)));
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::spin ()
{
resetStoppedFlag ();
// Render the window before we start the interactor
win_->Render ();
interactor_->Start ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::spinOnce (int time, bool force_redraw)
{
resetStoppedFlag ();
#if (defined (__APPLE__)\
&& ( (VTK_MAJOR_VERSION > 6) || ( (VTK_MAJOR_VERSION == 6) && (VTK_MINOR_VERSION >= 1))))
if (!win_->IsDrawable ())
{
close ();
return;
}
#endif
if (time <= 0)
time = 1;
if (force_redraw)
interactor_->Render ();
DO_EVERY (1.0 / interactor_->GetDesiredUpdateRate (),
exit_main_loop_timer_callback_->right_timer_id = interactor_->CreateRepeatingTimer (time);
interactor_->Start ();
interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::addOrientationMarkerWidgetAxes (vtkRenderWindowInteractor* interactor)
{
if ( !axes_widget_ )
{
vtkSmartPointer<vtkAxesActor> axes = vtkSmartPointer<vtkAxesActor>::New ();
axes_widget_ = vtkSmartPointer<vtkOrientationMarkerWidget>::New ();
axes_widget_->SetOutlineColor (0.9300, 0.5700, 0.1300);
axes_widget_->SetOrientationMarker (axes);
axes_widget_->SetInteractor (interactor);
axes_widget_->SetViewport (0.0, 0.0, 0.4, 0.4);
axes_widget_->SetEnabled (true);
axes_widget_->InteractiveOn ();
}
else
{
axes_widget_->SetEnabled (true);
pcl::console::print_warn (stderr, "Orientation Widget Axes already exists, just enabling it");
}
}
////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::removeOrientationMarkerWidgetAxes ()
{
if (axes_widget_)
{
if (axes_widget_->GetEnabled ())
axes_widget_->SetEnabled (false);
else
pcl::console::print_warn (stderr, "Orientation Widget Axes was already disabled, doing nothing.");
}
else
{
pcl::console::print_error ("Attempted to delete Orientation Widget Axes which does not exist!\n");
}
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, int viewport)
{
addCoordinateSystem (scale, "reference", viewport);
}
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, float y, float z, int viewport)
{
addCoordinateSystem (scale, x, y, z, "reference", viewport);
}
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport)
{
addCoordinateSystem (scale, t, "reference", viewport);
}
bool
pcl::visualization::PCLVisualizer::removeCoordinateSystem (int viewport)
{
return (removeCoordinateSystem ("reference", viewport));
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std::string &id, int viewport)
{
if (scale <= 0.0)
scale = 1.0;
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
axes->Update ();
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (1.0);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
#if VTK_MAJOR_VERSION < 6
axes_tubes->SetInput (axes_data);
#else
axes_tubes->SetInputData (axes_data);
#endif
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
axes_mapper->SetScalarModeToUsePointData ();
#if VTK_MAJOR_VERSION < 6
axes_mapper->SetInput (axes_tubes->GetOutput ());
#else
axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
#endif
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
// Save the ID and actor pair to the global actor map
(*coordinate_actor_map_) [id] = axes_actor;
addActorToRenderer (axes_actor, viewport);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, float y, float z, const std::string& id, int viewport)
{
if (scale <= 0.0)
scale = 1.0;
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
axes->Update ();
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (1.0);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
#if VTK_MAJOR_VERSION < 6
axes_tubes->SetInput (axes_data);
#else
axes_tubes->SetInputData (axes_data);
#endif
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
axes_mapper->SetScalarModeToUsePointData ();
#if VTK_MAJOR_VERSION < 6
axes_mapper->SetInput (axes_tubes->GetOutput ());
#else
axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
#endif
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
axes_actor->SetPosition (x, y, z);
// Save the ID and actor pair to the global actor map
(*coordinate_actor_map_) [id] = axes_actor;
addActorToRenderer (axes_actor, viewport);
}
int
feq (double a, double b) {
return fabs (a - b) < 1e-9;
}
void
quat_to_angle_axis (const Eigen::Quaternionf &qx, double &theta, double axis[3])
{
double q[4];
q[0] = qx.w();
q[1] = qx.x();
q[2] = qx.y();
q[3] = qx.z();
double halftheta = acos (q[0]);
theta = halftheta * 2;
double sinhalftheta = sin (halftheta);
if (feq (halftheta, 0)) {
axis[0] = 0;
axis[1] = 0;
axis[2] = 1;
theta = 0;
} else {
axis[0] = q[1] / sinhalftheta;
axis[1] = q[2] / sinhalftheta;
axis[2] = q[3] / sinhalftheta;
}
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const Eigen::Affine3f& t, const std::string& id, int viewport)
{
if (scale <= 0.0)
scale = 1.0;
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
axes->Update ();
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (1.0);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
#if VTK_MAJOR_VERSION < 6
axes_tubes->SetInput (axes_data);
#else
axes_tubes->SetInputData (axes_data);
#endif
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
axes_mapper->SetScalarModeToUsePointData ();
#if VTK_MAJOR_VERSION < 6
axes_mapper->SetInput (axes_tubes->GetOutput ());
#else
axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
#endif
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
axes_actor->SetPosition (t (0, 3), t(1, 3), t(2, 3));
Eigen::Matrix3f m;
m =t.rotation();
Eigen::Quaternionf rf;
rf = Eigen::Quaternionf(m);
double r_angle;
double r_axis[3];
quat_to_angle_axis(rf,r_angle,r_axis);
//
axes_actor->SetOrientation(0,0,0);
axes_actor->RotateWXYZ(r_angle*180/M_PI,r_axis[0],r_axis[1],r_axis[2]);
//WAS: axes_actor->SetOrientation (roll, pitch, yaw);
// Save the ID and actor pair to the global actor map
(*coordinate_actor_map_) [id] = axes_actor;
addActorToRenderer (axes_actor, viewport);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeCoordinateSystem (const std::string& id, int viewport)
{
// Check to see if the given ID entry exists
CoordinateActorMap::iterator am_it = coordinate_actor_map_->find (id);
if (am_it == coordinate_actor_map_->end ())
return (false);
// Remove it from all renderers
if (removeActorFromRenderer (am_it->second, viewport))
{
// Remove the ID pair to the global actor map
coordinate_actor_map_->erase (am_it);
return (true);
}
return (false);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removePointCloud (const std::string &id, int viewport)
{
// Check to see if the given ID entry exists
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
if (am_it == cloud_actor_map_->end ())
return (false);
// Remove it from all renderers
if (removeActorFromRenderer (am_it->second.actor, viewport))
{
// Remove the pointer/ID pair to the global actor map
cloud_actor_map_->erase (am_it);
return (true);
}
return (false);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeShape (const std::string &id, int viewport)
{
// Check to see if the given ID entry exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
// Extra step: check if there is a cloud with the same ID
CloudActorMap::iterator ca_it = cloud_actor_map_->find (id);
bool shape = true;
// Try to find a shape first
if (am_it == shape_actor_map_->end ())
{
// There is no cloud or shape with this ID, so just exit
if (ca_it == cloud_actor_map_->end ())
return (false);
// Cloud found, set shape to false
shape = false;
}
// Remove the pointer/ID pair to the global actor map
if (shape)
{
if (removeActorFromRenderer (am_it->second, viewport))
{
bool update_LUT (true);
if (!style_->lut_actor_id_.empty() && am_it->first != style_->lut_actor_id_)
update_LUT = false;
shape_actor_map_->erase (am_it);
if (update_LUT)
style_->updateLookUpTableDisplay (false);
return (true);
}
}
else
{
if (removeActorFromRenderer (ca_it->second.actor, viewport))
{
bool update_LUT (true);
if (!style_->lut_actor_id_.empty() && ca_it->first != style_->lut_actor_id_)
update_LUT = false;
cloud_actor_map_->erase (ca_it);
if (update_LUT)
style_->updateLookUpTableDisplay (false);
return (true);
}
}
return (false);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeText3D (const std::string &id, int viewport)
{
// Check to see if the given ID entry exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it == shape_actor_map_->end ())
{
//pcl::console::print_warn (stderr, "[removeSape] Could not find any shape with id <%s>!\n", id.c_str ());
return (false);
}
// Remove it from all renderers
if (removeActorFromRenderer (am_it->second, viewport))
{
// Remove the pointer/ID pair to the global actor map
shape_actor_map_->erase (am_it);
return (true);
}
return (false);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeAllPointClouds (int viewport)
{
// Check to see if the given ID entry exists
CloudActorMap::iterator am_it = cloud_actor_map_->begin ();
while (am_it != cloud_actor_map_->end () )
{
if (removePointCloud (am_it->first, viewport))
am_it = cloud_actor_map_->begin ();
else
++am_it;
}
return (true);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeAllShapes (int viewport)
{
bool display_lut (style_->lut_enabled_);
style_->lut_enabled_ = false; // Temporally disable LUT to fasten shape removal
// Check to see if the given ID entry exists
ShapeActorMap::iterator am_it = shape_actor_map_->begin ();
while (am_it != shape_actor_map_->end ())
{
if (removeShape (am_it->first, viewport))
am_it = shape_actor_map_->begin ();
else
++am_it;
}
if (display_lut)
{
style_->lut_enabled_ = true;
style_->updateLookUpTableDisplay (true);
}
return (true);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeAllCoordinateSystems (int viewport)
{
// Check to see if the given ID entry exists
CoordinateActorMap::iterator am_it = coordinate_actor_map_->begin ();
while (am_it != coordinate_actor_map_->end () )
{
if (removeCoordinateSystem (am_it->first, viewport))
am_it = coordinate_actor_map_->begin ();
else
++am_it;
}
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeActorFromRenderer (const vtkSmartPointer<vtkLODActor> &actor, int viewport)
{
vtkLODActor* actor_to_remove = vtkLODActor::SafeDownCast (actor);
// Add it to all renderers
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Should we remove the actor from all renderers?
if (viewport == 0)
{
renderer->RemoveActor (actor);
}
else if (viewport == i) // add the actor only to the specified viewport
{
// Iterate over all actors in this renderer
vtkPropCollection* actors = renderer->GetViewProps ();
actors->InitTraversal ();
vtkProp* current_actor = NULL;
while ((current_actor = actors->GetNextProp ()) != NULL)
{
if (current_actor != actor_to_remove)
continue;
renderer->RemoveActor (actor);
// Found the correct viewport and removed the actor
return (true);
}
}
++i;
}
if (viewport == 0) return (true);
return (false);
}
//////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::removeActorFromRenderer (const vtkSmartPointer<vtkActor> &actor, int viewport)
{
vtkActor* actor_to_remove = vtkActor::SafeDownCast (actor);
// Add it to all renderers
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Should we remove the actor from all renderers?
if (viewport == 0)
{
renderer->RemoveActor (actor);
}
else if (viewport == i) // add the actor only to the specified viewport
{
// Iterate over all actors in this renderer
vtkPropCollection* actors = renderer->GetViewProps ();
actors->InitTraversal ();
vtkProp* current_actor = NULL;
while ((current_actor = actors->GetNextProp ()) != NULL)
{
if (current_actor != actor_to_remove)
continue;
renderer->RemoveActor (actor);
// Found the correct viewport and removed the actor
return (true);
}
}
++i;