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removed redundant addShape methods

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pull/1453/head
ozantonkal 12 years ago
parent 4a19ff3a7c
commit 1830059969
6 changed files with 0 additions and 564 deletions
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  1. 113
      modules/viz/src/q/shapes.h
  2. 78
      modules/viz/src/q/viz3d_impl.hpp
  3. 172
      modules/viz/src/shapes.cpp
  4. 5
      modules/viz/src/viz3d.cpp
  5. 66
      modules/viz/src/viz3d_impl.cpp
  6. 130
      modules/viz/src/viz_main.cpp

113
modules/viz/src/q/shapes.h
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@ -15,119 +15,6 @@ namespace temp_viz
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> createArrow (const Point3f& pt1, const Point3f& pt2);
// 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);
//
//
/** \brief Create a cylinder shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
* \param[in] numsides (optional) the number of sides used for rendering the cylinder
*
* \code
* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder)
* // Eigen::Vector3f pt_on_axis, axis_direction;
* // float radius;
*
* temp_viz::ModelCoefficients cylinder_coeff;
* cylinder_coeff.values.resize (7); // We need 7 values
* cylinder_coeff.values[0] = pt_on_axis.x ();
* cylinder_coeff.values[1] = pt_on_axis.y ();
* cylinder_coeff.values[2] = pt_on_axis.z ();
*
* cylinder_coeff.values[3] = axis_direction.x ();
* cylinder_coeff.values[4] = axis_direction.y ();
* cylinder_coeff.values[5] = axis_direction.z ();
*
* cylinder_coeff.values[6] = radius;
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::createCylinder (cylinder_coeff, numsides);
* \endcode
*
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCylinder (const temp_viz::ModelCoefficients &coefficients, int numsides = 30);
/** \brief Create a planar shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
*
* \code
* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)
* // Eigen::Vector4f plane_parameters;
*
* temp_viz::ModelCoefficients plane_coeff;
* plane_coeff.values.resize (4); // We need 4 values
* plane_coeff.values[0] = plane_parameters.x ();
* plane_coeff.values[1] = plane_parameters.y ();
* plane_coeff.values[2] = plane_parameters.z ();
* plane_coeff.values[3] = plane_parameters.w ();
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::createPlane (plane_coeff);
* \endcode
*
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const temp_viz::ModelCoefficients &coefficients);
/** \brief Create a planar shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
* \param[in] x,y,z projection of this point on the plane is used to get the center of the plane.
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z);
/** \brief Create a 2d circle shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (x, y, radius)
* \param[in] z (optional) specify a z value (default: 0)
*
* \code
* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)
* // float x, y, radius;
*
* temp_viz::ModelCoefficients circle_coeff;
* circle_coeff.values.resize (3); // We need 3 values
* circle_coeff.values[0] = x;
* circle_coeff.values[1] = y;
* circle_coeff.values[2] = radius;
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::create2DCircle (circle_coeff, z);
* \endcode
*
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> create2DCircle (const temp_viz::ModelCoefficients &coefficients, double z = 0.0);
/** \brief Creaet a cube shape from a set of model coefficients.
* \param[in] coefficients the cube coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const temp_viz::ModelCoefficients &coefficients);
/** \brief Creaet a cube shape from a set of model coefficients.
*
* \param[in] translation a translation to apply to the cube from 0,0,0
* \param[in] rotation a quaternion-based rotation to apply to the cube
* \param[in] width the cube's width
* \param[in] height the cube's height
* \param[in] depth the cube's depth
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth);
/** \brief Create a cube from a set of bounding points
* \param[in] x_min is the minimum x value of the box
* \param[in] x_max is the maximum x value of the box
* \param[in] y_min is the minimum y value of the box
* \param[in] y_max is the maximum y value of the box
* \param[in] z_min is the minimum z value of the box
* \param[in] z_max is the maximum z value of the box
* \param[in] id the cube id/name (default: "cube")
* \param[in] viewport (optional) the id of the new viewport (default: 0)
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max);
/** \brief Allocate a new unstructured grid smartpointer. For internal use only.
* \param[out] polydata the resultant unstructured grid.
*/

78
modules/viz/src/q/viz3d_impl.hpp
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@ -153,8 +153,6 @@ public:
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");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color_line, const Color& color_text, const std::string &id = "arrow");
bool addSphere (const cv::Point3f &center, float radius, const Color& color, const std::string &id = "sphere");
bool updateSphere (const cv::Point3f &center, float radius, const Color& color, const std::string &id = "sphere");
// Add a vtkPolydata as a mesh
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id = "PolyData");
@ -162,82 +160,6 @@ public:
bool addModelFromPLYFile (const std::string &filename, const std::string &id = "PLYModel");
bool addModelFromPLYFile (const std::string &filename, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PLYModel");
/** \brief Add a cylinder from a set of given model coefficients
* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
* \param[in] id the cylinder id/name (default: "cylinder")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelCylinder for more information.
* // float radius;
*
* temp_viz::ModelCoefficients cylinder_coeff;
* cylinder_coeff.values.resize (7); // We need 7 values
* cylinder_coeff.values[0] = pt_on_axis.x ();
* cylinder_coeff.values[1] = pt_on_axis.y ();
* cylinder_coeff.values[2] = pt_on_axis.z ();
*
* cylinder_coeff.values[3] = axis_direction.x ();
* cylinder_coeff.values[4] = axis_direction.y ();
* cylinder_coeff.values[5] = axis_direction.z ();
*
* cylinder_coeff.values[6] = radius;
*
* addCylinder (cylinder_coeff);
* \endcode
*/
bool addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cylinder");
/** \brief Add a circle from a set of given model coefficients
* \param[in] coefficients the model coefficients (x, y, radius)
* \param[in] id the circle id/name (default: "circle")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelCircle2D for more information
* // float x, y, radius;
*
* temp_viz::ModelCoefficients circle_coeff;
* circle_coeff.values.resize (3); // We need 3 values
* circle_coeff.values[0] = x;
* circle_coeff.values[1] = y;
* circle_coeff.values[2] = radius;
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::create2DCircle (circle_coeff, z);
* \endcode
*/
bool addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "circle");
/** \brief Add a cube from a set of given model coefficients
* \param[in] coefficients the model coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cube");
/** \brief Add a cube from a set of given model coefficients
* \param[in] translation a translation to apply to the cube from 0,0,0
* \param[in] rotation a quaternion-based rotation to apply to the cube
* \param[in] width the cube's width
* \param[in] height the cube's height
* \param[in] depth the cube's depth
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (const cv::Vec3f& translation, const cv::Vec3f quaternion, double width, double height, double depth, const std::string &id = "cube");
/** \brief Add a cube
* \param[in] x_min the min X coordinate
* \param[in] x_max the max X coordinate
* \param[in] y_min the min Y coordinate
* \param[in] y_max the max Y coordinate
* \param[in] z_min the min Z coordinate
* \param[in] z_max the max Z coordinate
* \param[in] r how much red (0.0 -> 1.0)
* \param[in] g how much green (0.0 -> 1.0)
* \param[in] b how much blue (0.0 -> 1.0)
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max, const Color& color, const std::string &id = "cube");
/** \brief Changes the visual representation for all actors to surface representation. */
void setRepresentationToSurfaceForAllActors ();

172
modules/viz/src/shapes.cpp
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@ -139,178 +139,6 @@ vtkSmartPointer<vtkDataSet> temp_viz::createArrow (const Point3f& pt1, const Poi
return (transformPD->GetOutput());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createCylinder (const temp_viz::ModelCoefficients &coefficients, int numsides)
{
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
line->SetPoint1 (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
line->SetPoint2 (coefficients.values[3]+coefficients.values[0], coefficients.values[4]+coefficients.values[1], coefficients.values[5]+coefficients.values[2]);
vtkSmartPointer<vtkTubeFilter> tuber = vtkSmartPointer<vtkTubeFilter>::New ();
tuber->SetInputConnection (line->GetOutputPort ());
tuber->SetRadius (coefficients.values[6]);
tuber->SetNumberOfSides (numsides);
return (tuber->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createCube (const temp_viz::ModelCoefficients &coefficients)
{
// coefficients = [Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth]
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
t->Identity ();
t->Translate (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
Eigen::AngleAxisf a (Eigen::Quaternionf (coefficients.values[6], coefficients.values[3],
coefficients.values[4], coefficients.values[5]));
t->RotateWXYZ (rad2deg (a.angle ()), a.axis ()[0], a.axis ()[1], a.axis ()[2]);
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetXLength (coefficients.values[7]);
cube->SetYLength (coefficients.values[8]);
cube->SetZLength (coefficients.values[9]);
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (cube->GetOutputPort ());
return (tf->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth)
{
// coefficients = [Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth]
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
t->Identity ();
t->Translate (translation.x (), translation.y (), translation.z ());
Eigen::AngleAxisf a (rotation);
t->RotateWXYZ (rad2deg (a.angle ()), a.axis ()[0], a.axis ()[1], a.axis ()[2]);
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetXLength (width);
cube->SetYLength (height);
cube->SetZLength (depth);
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (cube->GetOutputPort ());
return (tf->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max)
{
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetBounds (x_min, x_max, y_min, y_max, z_min, z_max);
return (cube->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createPlane (const temp_viz::ModelCoefficients &coefficients)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
plane->SetNormal (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
double norm_sqr = coefficients.values[0] * coefficients.values[0]
+ coefficients.values[1] * coefficients.values[1]
+ coefficients.values[2] * coefficients.values[2];
plane->Push (-coefficients.values[3] / sqrt(norm_sqr));
return (plane->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
double norm_sqr = 1.0 / (coefficients.values[0] * coefficients.values[0] +
coefficients.values[1] * coefficients.values[1] +
coefficients.values[2] * coefficients.values[2] );
// double nx = coefficients.values [0] * norm;
// double ny = coefficients.values [1] * norm;
// double nz = coefficients.values [2] * norm;
// double d = coefficients.values [3] * norm;
// plane->SetNormal (nx, ny, nz);
plane->SetNormal (coefficients.values[0], coefficients.values[1], coefficients.values[2]);
double t = x * coefficients.values[0] + y * coefficients.values[1] + z * coefficients.values[2] + coefficients.values[3];
x -= coefficients.values[0] * t * norm_sqr;
y -= coefficients.values[1] * t * norm_sqr;
z -= coefficients.values[2] * t * norm_sqr;
plane->SetCenter (x, y, z);
return (plane->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::create2DCircle (const temp_viz::ModelCoefficients &coefficients, double z)
{
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
// Maybe the resolution should be lower e.g. 50 or 25
disk->SetCircumferentialResolution (100);
disk->SetInnerRadius (coefficients.values[2] - 0.001);
disk->SetOuterRadius (coefficients.values[2] + 0.001);
disk->SetCircumferentialResolution (20);
// An alternative to <vtkDiskSource> could be <vtkRegularPolygonSource> with <vtkTubeFilter>
/*
vtkSmartPointer<vtkRegularPolygonSource> circle = vtkSmartPointer<vtkRegularPolygonSource>::New();
circle->SetRadius (coefficients.values[2]);
circle->SetNumberOfSides (100);
vtkSmartPointer<vtkTubeFilter> tube = vtkSmartPointer<vtkTubeFilter>::New();
tube->SetInput (circle->GetOutput());
tube->SetNumberOfSides (25);
tube->SetRadius (0.001);
*/
// Set the circle origin
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
t->Identity ();
t->Translate (coefficients.values[0], coefficients.values[1], z);
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (disk->GetOutputPort ());
/*
tf->SetInputConnection (tube->GetOutputPort ());
*/
return (tf->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createSphere (const cv::Point3f& center, float radius, int sphere_resolution)
{
// Set the sphere origin
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
t->Identity ();
t->Translate (center.x, center.y, center.z);
vtkSmartPointer<vtkSphereSource> s_sphere = vtkSmartPointer<vtkSphereSource>::New ();
s_sphere->SetRadius (radius);
s_sphere->SetPhiResolution (sphere_resolution);
s_sphere->SetThetaResolution (sphere_resolution);
s_sphere->LatLongTessellationOff ();
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (s_sphere->GetOutputPort ());
tf->Update ();
return (tf->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createLine (const cv::Point3f& pt1, const cv::Point3f& pt2)
{

5
modules/viz/src/viz3d.cpp
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@ -63,11 +63,6 @@ bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const Str
return impl_->addPolygon(cloud, color, id);
}
bool temp_viz::Viz3d::addSphere (const cv::Point3f &center, double radius, const Color& color, const std::string &id)
{
return impl_->addSphere(center, radius, color, id);
}
void temp_viz::Viz3d::spin()
{
impl_->spin();

66
modules/viz/src/viz3d_impl.cpp
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@ -958,72 +958,6 @@ bool temp_viz::Viz3d::VizImpl::addArrow (const cv::Point3f &p1, const cv::Point3
return (true);
}
#include <vtkSphereSource.h>
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addSphere (const cv::Point3f& center, float radius, const Color& color, const std::string &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 (id);
if (am_it != shape_actor_map_->end ())
return std::cout << "[addSphere] A shape with id <"<<id << "> already exists! Please choose a different id and retry." << std::endl, false;
//vtkSmartPointer<vtkDataSet> data = createSphere (center.getVector4fMap (), radius);
vtkSmartPointer<vtkSphereSource> data = vtkSmartPointer<vtkSphereSource>::New ();
data->SetRadius (radius);
data->SetCenter (center.x, center.y, center.z);
data->SetPhiResolution (10);
data->SetThetaResolution (10);
data->LatLongTessellationOff ();
data->Update ();
// Setup actor and mapper
vtkSmartPointer <vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
mapper->SetInputConnection (data->GetOutputPort ());
// Create an Actor
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
actor->SetMapper (mapper);
//createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToSurface ();
actor->GetProperty ()->SetInterpolationToFlat ();
Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ImmediateModeRenderingOn ();
actor->GetMapper ()->StaticOn ();
actor->GetMapper ()->ScalarVisibilityOff ();
actor->GetMapper ()->Update ();
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::updateSphere (const cv::Point3f &center, float radius, const Color& color, const std::string &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 (id);
if (am_it == shape_actor_map_->end ())
return (false);
//////////////////////////////////////////////////////////////////////////
// Get the actor pointer
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);
src->SetCenter(center.x, center.y, center.z);
src->SetRadius(radius);
src->Update ();
Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
actor->Modified ();
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)
{

130
modules/viz/src/viz_main.cpp
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@ -894,111 +894,6 @@ void temp_viz::Viz3d::VizImpl::resetCameraViewpoint (const std::string &id)
renderer_->Render ();
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &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 (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCylinder] A shape with id <"<<id <<"> already exists! Please choose a different id and retry." << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = createCylinder (coefficients);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCube (const temp_viz::ModelCoefficients &coefficients, const std::string &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 (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = createCube (coefficients);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCube (const cv::Vec3f& translation, const cv::Vec3f quaternion, double width, double height, double depth, const std::string &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 (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl;
return (false);
}
Eigen::Vector3f t(translation[0], translation[1], translation[2]);
Eigen::Quaternionf q(quaternion[0], quaternion[1], quaternion[2], quaternion[3]);
vtkSmartPointer<vtkDataSet> data = createCube (t, q, width, height, depth);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max,
const Color& color , const std::string &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 (id);
if (am_it != shape_actor_map_->end ())
return std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl, false;
vtkSmartPointer<vtkDataSet> data = createCube (x_min, x_max, y_min, y_max, z_min, z_max);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id)
{
@ -1088,31 +983,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
return (true);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &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 (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCircle] A shape with id <"<<id<<"> already exists! Please choose a different id and retry.\n" << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = create2DCircle (coefficients);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
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)
{

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