showLine implementation

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -31,6 +31,8 @@ namespace temp_viz
         void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
 
         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);
 
         bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
         bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");

modules/viz/src/q/viz3d_impl.hpp

@@ -137,9 +137,10 @@ public:
         // This tends to close the window...
         interactor_->TerminateApp ();
     }
+    
+    void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color);
 
     bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
-    bool addLine (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, const std::string &id = "line");
     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");

modules/viz/src/viz3d.cpp

@@ -78,6 +78,11 @@ void temp_viz::Viz3d::spinOnce (int time, bool force_redraw)
     impl_->spinOnce(time, force_redraw);
 }
 
+void temp_viz::Viz3d::showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
+{
+    impl_->showLine(id, pt1, pt2, color);
+}
+
 bool temp_viz::Viz3d::addPlane (const ModelCoefficients &coefficients, const String &id)
 {
     return impl_->addPlane(coefficients, id);

modules/viz/src/viz3d_impl.cpp

@@ -266,33 +266,42 @@ bool temp_viz::Viz3d::VizImpl::addPointCloudNormals (const cv::Mat &cloud, const
 }
 
 
-////////////////////////////////////////////////////////////////////////////////////////////
-bool temp_viz::Viz3d::VizImpl::addLine (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, const std::string &id)
+void temp_viz::Viz3d::VizImpl::showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color)
 {
-    // Check to see if this ID entry already exists (has it been already added to the visualizer?)
+    // Check if this Id already exists
     ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
-    if (am_it != shape_actor_map_->end ())
-        return std::cout << "[addLine] A shape with id <" << id <<  "> already exists! Please choose a different id and retry." << std::endl, false;
-
-    vtkSmartPointer<vtkDataSet> data = createLine (pt1, pt2);
+    bool exists = (am_it != shape_actor_map_->end());
+    
+    // If it exists just update
+    if (exists)
+    {
+        vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
+        reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createLine(pt1,pt2));
+        Color c = vtkcolor(color);
+        actor->GetProperty ()->SetColor (c.val);
+        actor->GetMapper ()->ScalarVisibilityOff ();
+        actor->Modified ();
+    }
+    else
+    {
+        // Create new line
+        vtkSmartPointer<vtkDataSet> data = createLine (pt1, pt2);
 
-    // Create an Actor
-    vtkSmartPointer<vtkLODActor> actor;
-    createActorFromVTKDataSet (data, actor);
-    actor->GetProperty ()->SetRepresentationToWireframe ();
+        // Create an Actor
+        vtkSmartPointer<vtkLODActor> actor;
+        createActorFromVTKDataSet (data, actor);
+        actor->GetProperty ()->SetRepresentationToWireframe ();
 
-    Color c = vtkcolor(color);
-    actor->GetProperty ()->SetColor (c.val);
-    actor->GetMapper ()->ScalarVisibilityOff ();
-    renderer_->AddActor (actor);
+        Color c = vtkcolor(color);
+        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;
-    return (true);
+        // 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 ());

modules/viz/test/test_viz3d.cpp

@@ -86,18 +86,19 @@ TEST(Viz_viz3d, accuracy)
     float pos_x = 0.0f;
     float pos_y = 0.0f;
     float pos_z = 0.0f;
-    temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("d:/horse.ply");
-    v.addPolygonMesh(*mesh, "pq");
+//     temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("d:/horse.ply");
+//     v.addPolygonMesh(*mesh, "pq");
 
     int col_blue = 0;
     int col_green = 0;
     int col_red = 0;
-
+    
     while(!v.wasStopped())
     {
         // Creating new point cloud with id cloud1
         cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
         v.showPointCloud("cloud1", cloud, temp_viz::Color(col_blue, col_green, col_red), cloudPosition);
+        v.showLine("line1", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
 
         angle_x += 0.1f;
         angle_y -= 0.1f;