diff --git a/modules/viz/include/opencv2/viz/viz3d.hpp b/modules/viz/include/opencv2/viz/viz3d.hpp index a0181cb713..f16d26d420 100644 --- a/modules/viz/include/opencv2/viz/viz3d.hpp +++ b/modules/viz/include/opencv2/viz/viz3d.hpp @@ -26,16 +26,11 @@ namespace temp_viz void setBackgroundColor(const Color& color = Color::black()); - void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity()); - 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"); bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline"); - bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = ""); bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon"); void spin (); diff --git a/modules/viz/src/q/viz3d_impl.hpp b/modules/viz/src/q/viz3d_impl.hpp index a49bb49227..b028812fbc 100644 --- a/modules/viz/src/q/viz3d_impl.hpp +++ b/modules/viz/src/q/viz3d_impl.hpp @@ -52,36 +52,15 @@ public: void setBackgroundColor (const Color& color); - bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = ""); - bool updateText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = ""); - - /** \brief Set the pose of an existing shape. Returns false if the shape doesn't exist, true if the pose was succesfully updated. */ - bool updateShapePose (const String& id, const Affine3f& pose); - - bool addText3D (const String &text, const Point3f &position, const Color& color, double textScale = 1.0, const String& id = ""); - - bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud"); - - /** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene - * \param[in] id a variable to identify the point cloud - * \param[in] cloud cloud input in x,y,z coordinates - * \param[in] colors color input in the same order of the points or single uniform color - * \param[in] pose transform to be applied on the point cloud - */ - void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity()); - void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity()); - bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon"); bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon"); bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline"); - void setPointCloudColor (const Color& color, const String& id = "cloud"); bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud"); bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud"); bool setShapeRenderingProperties (int property, double value, const String& id); - void setShapeColor (const Color& color, const String& id); /** \brief Set whether the point cloud is selected or not * \param[in] selected whether the cloud is selected or not (true = selected) diff --git a/modules/viz/src/viz3d.cpp b/modules/viz/src/viz3d.cpp index 0460630baa..4b9357391d 100644 --- a/modules/viz/src/viz3d.cpp +++ b/modules/viz/src/viz3d.cpp @@ -17,21 +17,6 @@ void temp_viz::Viz3d::setBackgroundColor(const Color& color) impl_->setBackgroundColor(color); } -void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose) -{ - impl_->showPointCloud(id, cloud, colors, pose); -} - -void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose) -{ - impl_->showPointCloud(id, cloud, color, pose); -} - -bool temp_viz::Viz3d::addPointCloudNormals (const Mat &cloud, const Mat& normals, int level, float scale, const String& id) -{ - return impl_->addPointCloudNormals(cloud, normals, level, scale, id); -} - bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id) { return impl_->addPolygonMesh(mesh, Mat(), id); @@ -47,11 +32,6 @@ bool temp_viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const Stri return impl_->addPolylineFromPolygonMesh(mesh, id); } -bool temp_viz::Viz3d::addText (const String &text, int xpos, int ypos, const Color& color, int fontsize, const String& id) -{ - return impl_->addText(text, xpos, ypos, color, fontsize, id); -} - bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id) { return impl_->addPolygon(cloud, color, id); diff --git a/modules/viz/src/viz3d_impl.cpp b/modules/viz/src/viz3d_impl.cpp index dd94dc343d..1a1fca699b 100644 --- a/modules/viz/src/viz3d_impl.cpp +++ b/modules/viz/src/viz3d_impl.cpp @@ -36,347 +36,6 @@ void temp_viz::Viz3d::VizImpl::setWindowName (const std::string &name) void temp_viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); } void temp_viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); } -void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _cloud, InputArray _colors, const Affine3f& pose) -{ - Mat cloud = _cloud.getMat(); - Mat colors = _colors.getMat(); - CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); - CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size()); - - vtkSmartPointer polydata; - vtkSmartPointer vertices; - vtkSmartPointer points; - vtkSmartPointer initcells; - vtkIdType nr_points = cloud.total(); - - // If the cloud already exists, update otherwise create new one - CloudActorMap::iterator am_it = cloud_actor_map_->find (id); - bool exist = am_it == cloud_actor_map_->end(); - if (exist) - { - // Add as new cloud - allocVtkPolyData(polydata); - //polydata = vtkSmartPointer::New (); - vertices = vtkSmartPointer::New (); - polydata->SetVerts (vertices); - - points = polydata->GetPoints (); - - if (!points) - { - points = vtkSmartPointer::New (); - if (cloud.depth() == CV_32F) - points->SetDataTypeToFloat(); - else if (cloud.depth() == CV_64F) - points->SetDataTypeToDouble(); - polydata->SetPoints (points); - } - points->SetNumberOfPoints (nr_points); - } - else - { - // Update the cloud - // Get the current poly data - polydata = reinterpret_cast(am_it->second.actor->GetMapper ())->GetInput (); - vertices = polydata->GetVerts (); - points = polydata->GetPoints (); - // Update the point data type based on the cloud - if (cloud.depth() == CV_32F) - points->SetDataTypeToFloat (); - else if (cloud.depth() == CV_64F) - points->SetDataTypeToDouble (); - - points->SetNumberOfPoints (nr_points); - } - - if (cloud.depth() == CV_32F) - { - // Get a pointer to the beginning of the data array - Vec3f *data_beg = vtkpoints_data(points); - Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud); - std::transform(data_beg, data_end, data_beg, ApplyAffine(pose)); - nr_points = data_end - data_beg; - - } - else if (cloud.depth() == CV_64F) - { - // Get a pointer to the beginning of the data array - Vec3d *data_beg = vtkpoints_data(points); - Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud); - std::transform(data_beg, data_end, data_beg, ApplyAffine(pose)); - nr_points = data_end - data_beg; - } - - points->SetNumberOfPoints (nr_points); - - vtkSmartPointer cells = vertices->GetData (); - - if (exist) - updateCells (cells, initcells, nr_points); - else - updateCells (cells, am_it->second.cells, nr_points); - - // Set the cells and the vertices - vertices->SetCells (nr_points, cells); - - // Get a random color - Vec3b* colors_data = new Vec3b[nr_points]; - NanFilter::copy(colors, colors_data, cloud); - - vtkSmartPointer scalars = vtkSmartPointer::New (); - scalars->SetNumberOfComponents (3); - scalars->SetNumberOfTuples (nr_points); - scalars->SetArray (colors_data->val, 3 * nr_points, 0); - - // Assign the colors - Vec2d minmax; - polydata->GetPointData ()->SetScalars (scalars); - scalars->GetRange (minmax.val); - - // If this is the new point cloud, a new actor is created - if (exist) - { - vtkSmartPointer actor; - createActorFromVTKDataSet (polydata, actor); - - actor->GetMapper ()->SetScalarRange (minmax.val); - - // Add it to all renderers - renderer_->AddActor (actor); - - // Save the pointer/ID pair to the global actor map - (*cloud_actor_map_)[id].actor = actor; - (*cloud_actor_map_)[id].cells = initcells; - - const Eigen::Vector4f sensor_origin = Eigen::Vector4f::Zero (); - const Eigen::Quaternionf sensor_orientation = Eigen::Quaternionf::Identity (); - - // Save the viewpoint transformation matrix to the global actor map - vtkSmartPointer transformation = vtkSmartPointer::New(); - convertToVtkMatrix (sensor_origin, sensor_orientation, transformation); - - (*cloud_actor_map_)[id].viewpoint_transformation_ = transformation; - } - else - { - // Update the mapper - reinterpret_cast(am_it->second.actor->GetMapper ())->SetInput (polydata); - am_it->second.actor->GetMapper ()->ScalarVisibilityOn(); - am_it->second.actor->Modified (); - } -} - -void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _cloud, const Color& color, const Affine3f& pose) -{ - Mat cloud = _cloud.getMat(); - CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); - - vtkSmartPointer polydata; - vtkSmartPointer vertices; - vtkSmartPointer points; - vtkSmartPointer initcells; - vtkIdType nr_points = cloud.total(); - - // If the cloud already exists, update otherwise create new one - CloudActorMap::iterator am_it = cloud_actor_map_->find (id); - bool exist = am_it == cloud_actor_map_->end(); - if (exist) - { - // Add as new cloud - allocVtkPolyData(polydata); - //polydata = vtkSmartPointer::New (); - vertices = vtkSmartPointer::New (); - polydata->SetVerts (vertices); - - points = polydata->GetPoints (); - - if (!points) - { - points = vtkSmartPointer::New (); - if (cloud.depth() == CV_32F) - points->SetDataTypeToFloat(); - else if (cloud.depth() == CV_64F) - points->SetDataTypeToDouble(); - polydata->SetPoints (points); - } - points->SetNumberOfPoints (nr_points); - } - else - { - // Update the cloud - // Get the current poly data - polydata = reinterpret_cast(am_it->second.actor->GetMapper ())->GetInput (); - vertices = polydata->GetVerts (); - points = polydata->GetPoints (); - // Update the point data type based on the cloud - if (cloud.depth() == CV_32F) - points->SetDataTypeToFloat (); - else if (cloud.depth() == CV_64F) - points->SetDataTypeToDouble (); - - points->SetNumberOfPoints (nr_points); - } - - if (cloud.depth() == CV_32F) - { - // Get a pointer to the beginning of the data array - Vec3f *data_beg = vtkpoints_data(points); - Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud); - std::transform(data_beg, data_end, data_beg, ApplyAffine(pose)); - nr_points = data_end - data_beg; - - } - else if (cloud.depth() == CV_64F) - { - // Get a pointer to the beginning of the data array - Vec3d *data_beg = vtkpoints_data(points); - Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud); - std::transform(data_beg, data_end, data_beg, ApplyAffine(pose)); - nr_points = data_end - data_beg; - } - - points->SetNumberOfPoints (nr_points); - - vtkSmartPointer cells = vertices->GetData (); - - if (exist) - updateCells (cells, initcells, nr_points); - else - updateCells (cells, am_it->second.cells, nr_points); - - // Set the cells and the vertices - vertices->SetCells (nr_points, cells); - - // Get a random color - Color c = vtkcolor(color); - polydata->GetPointData ()->SetScalars (0); - - // If this is the new point cloud, a new actor is created - if (exist) - { - vtkSmartPointer actor; - createActorFromVTKDataSet (polydata, actor, false); - - actor->GetProperty ()->SetColor(c.val); - - // Add it to all renderers - renderer_->AddActor (actor); - - // Save the pointer/ID pair to the global actor map - (*cloud_actor_map_)[id].actor = actor; - (*cloud_actor_map_)[id].cells = initcells; - - const Eigen::Vector4f sensor_origin = Eigen::Vector4f::Zero (); - const Eigen::Quaternionf sensor_orientation = Eigen::Quaternionf::Identity (); - - // Save the viewpoint transformation matrix to the global actor map - vtkSmartPointer transformation = vtkSmartPointer::New(); - convertToVtkMatrix (sensor_origin, sensor_orientation, transformation); - - (*cloud_actor_map_)[id].viewpoint_transformation_ = transformation; - } - else - { - // Update the mapper - reinterpret_cast(am_it->second.actor->GetMapper ())->SetInput (polydata); - am_it->second.actor->GetProperty ()->SetColor(c.val); - am_it->second.actor->GetMapper ()->ScalarVisibilityOff(); - am_it->second.actor->Modified (); - } -} - -bool temp_viz::Viz3d::VizImpl::addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level, float scale, const std::string &id) -{ - CV_Assert(cloud.size() == normals.size() && cloud.type() == CV_32FC3 && normals.type() == CV_32FC3); - - if (cloud_actor_map_->find (id) != cloud_actor_map_->end ()) - return false; - - vtkSmartPointer points = vtkSmartPointer::New(); - vtkSmartPointer lines = vtkSmartPointer::New(); - - points->SetDataTypeToFloat (); - vtkSmartPointer data = vtkSmartPointer::New (); - data->SetNumberOfComponents (3); - - vtkIdType nr_normals = 0; - float* pts = 0; - - // If the cloud is organized, then distribute the normal step in both directions - if (cloud.cols > 1 && cloud.rows > 1) - { - vtkIdType point_step = static_cast (sqrt (double (level))); - nr_normals = (static_cast ((cloud.cols - 1)/ point_step) + 1) * - (static_cast ((cloud.rows - 1) / point_step) + 1); - pts = new float[2 * nr_normals * 3]; - - vtkIdType cell_count = 0; - for (vtkIdType y = 0; y < cloud.rows; y += point_step) - for (vtkIdType x = 0; x < cloud.cols; x += point_step) - { - cv::Point3f p = cloud.at(y, x); - cv::Point3f n = normals.at(y, x) * scale; - - pts[2 * cell_count * 3 + 0] = p.x; - pts[2 * cell_count * 3 + 1] = p.y; - pts[2 * cell_count * 3 + 2] = p.z; - pts[2 * cell_count * 3 + 3] = p.x + n.x; - pts[2 * cell_count * 3 + 4] = p.y + n.y; - pts[2 * cell_count * 3 + 5] = p.z + n.z; - - lines->InsertNextCell (2); - lines->InsertCellPoint (2 * cell_count); - lines->InsertCellPoint (2 * cell_count + 1); - cell_count++; - } - } - else - { - nr_normals = (cloud.size().area() - 1) / level + 1 ; - pts = new float[2 * nr_normals * 3]; - - for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level) - { - cv::Point3f p = cloud.ptr()[i]; - cv::Point3f n = normals.ptr()[i] * scale; - - pts[2 * j * 3 + 0] = p.x; - pts[2 * j * 3 + 1] = p.y; - pts[2 * j * 3 + 2] = p.z; - pts[2 * j * 3 + 3] = p.x + n.x; - pts[2 * j * 3 + 4] = p.y + n.y; - pts[2 * j * 3 + 5] = p.z + n.z; - - lines->InsertNextCell (2); - lines->InsertCellPoint (2 * j); - lines->InsertCellPoint (2 * j + 1); - } - } - - data->SetArray (&pts[0], 2 * nr_normals * 3, 0); - points->SetData (data); - - vtkSmartPointer polyData = vtkSmartPointer::New(); - polyData->SetPoints (points); - polyData->SetLines (lines); - - vtkSmartPointer mapper = vtkSmartPointer::New (); - mapper->SetInput (polyData); - mapper->SetColorModeToMapScalars(); - mapper->SetScalarModeToUsePointData(); - - // create actor - vtkSmartPointer actor = vtkSmartPointer::New (); - actor->SetMapper (mapper); - - // Add it to all renderers - renderer_->AddActor (actor); - - // Save the pointer/ID pair to the global actor map - (*cloud_actor_map_)[id].actor = actor; - return (true); -} - 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 ()); @@ -742,50 +401,6 @@ bool temp_viz::Viz3d::VizImpl::addArrow (const cv::Point3f &p1, const cv::Point3 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) -{ - std::string tid; - if (id.empty ()) - tid = text; - else - tid = 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 (tid); - if (am_it != shape_actor_map_->end ()) - return std::cout << "[addText3d] A text with id <" << tid << "> already exists! Please choose a different id and retry." << std::endl, false; - - vtkSmartPointer textSource = vtkSmartPointer::New (); - textSource->SetText (text.c_str()); - textSource->Update (); - - vtkSmartPointer textMapper = vtkSmartPointer::New (); - textMapper->SetInputConnection (textSource->GetOutputPort ()); - - // Since each follower may follow a different camera, we need different followers - vtkRenderer* renderer = renderer_; - - vtkSmartPointer textActor = vtkSmartPointer::New (); - textActor->SetMapper (textMapper); - textActor->SetPosition (position.x, position.y, position.z); - textActor->SetScale (textScale); - - Color c = vtkcolor(color); - textActor->GetProperty ()->SetColor (c.val); - textActor->SetCamera (renderer->GetActiveCamera ()); - - renderer->AddActor (textActor); - renderer->Render (); - - // Save the pointer/ID pair to the global actor map. If we are saving multiple vtkFollowers - // for multiple viewport - (*shape_actor_map_)[tid] = textActor; - - - return (true); -} - bool temp_viz::Viz3d::VizImpl::addPolygon (const cv::Mat& cloud, const Color& color, const std::string &id) { CV_Assert(cloud.type() == CV_32FC3 && cloud.rows == 1); @@ -882,6 +497,13 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget actor->SetUserMatrix (matrix); actor->Modified(); } + // If the actor is a vtkFollower, then it should always face the camera + vtkFollower *follower = vtkFollower::SafeDownCast(actor); + if (follower) + { + follower->SetCamera(renderer_->GetActiveCamera()); + } + renderer_->AddActor(WidgetAccessor::getProp(widget)); (*widget_actor_map_)[id].actor = WidgetAccessor::getProp(widget); } diff --git a/modules/viz/src/viz_main.cpp b/modules/viz/src/viz_main.cpp index 0d56fe0a56..442a5ff8e7 100644 --- a/modules/viz/src/viz_main.cpp +++ b/modules/viz/src/viz_main.cpp @@ -350,21 +350,6 @@ void temp_viz::Viz3d::VizImpl::setBackgroundColor (const Color& color) renderer_->SetBackground (c.val); } -///////////////////////////////////////////////////////////////////////////////////////////// -void temp_viz::Viz3d::VizImpl::setPointCloudColor (const Color& color, const std::string &id) -{ - CloudActorMap::iterator am_it = cloud_actor_map_->find (id); - if (am_it != cloud_actor_map_->end ()) - { - vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor); - - Color c = vtkcolor(color); - actor->GetProperty ()->SetColor (c.val); - actor->GetMapper ()->ScalarVisibilityOff (); - actor->Modified (); - } -} - ///////////////////////////////////////////////////////////////////////////////////////////// bool temp_viz::Viz3d::VizImpl::getPointCloudRenderingProperties (int property, double &value, const std::string &id) { @@ -470,26 +455,6 @@ bool temp_viz::Viz3d::VizImpl::setPointCloudSelected (const bool selected, const return true; } -///////////////////////////////////////////////////////////////////////////////////////////// -void temp_viz::Viz3d::VizImpl::setShapeColor (const Color& color, const std::string &id) -{ - ShapeActorMap::iterator am_it = shape_actor_map_->find (id); - if (am_it != shape_actor_map_->end ()) - { - vtkActor* actor = vtkActor::SafeDownCast (am_it->second); - - Color c = vtkcolor(color); - actor->GetMapper ()->ScalarVisibilityOff (); - actor->GetProperty ()->SetColor (c.val); - actor->GetProperty ()->SetEdgeColor (c.val); - actor->GetProperty ()->SetAmbient (0.8); - actor->GetProperty ()->SetDiffuse (0.8); - actor->GetProperty ()->SetSpecular (0.8); - actor->GetProperty ()->SetLighting (0); - actor->Modified (); - } -} - ///////////////////////////////////////////////////////////////////////////////////////////// bool temp_viz::Viz3d::VizImpl::setShapeRenderingProperties (int property, double value, const std::string &id) { @@ -618,28 +583,6 @@ void temp_viz::Viz3d::VizImpl::updateCamera () renderer_->Render (); } -///////////////////////////////////////////////////////////////////////////////////////////// -bool temp_viz::Viz3d::VizImpl::updateShapePose (const std::string &id, const cv::Affine3f& pose) -{ - ShapeActorMap::iterator am_it = shape_actor_map_->find (id); - - vtkLODActor* actor; - - if (am_it == shape_actor_map_->end ()) - return (false); - else - actor = vtkLODActor::SafeDownCast (am_it->second); - - vtkSmartPointer matrix = vtkSmartPointer::New (); - - convertToVtkMatrix (pose.matrix, matrix); - - actor->SetUserMatrix (matrix); - actor->Modified (); - - return (true); -} - ///////////////////////////////////////////////////////////////////////////////////////////// void temp_viz::Viz3d::VizImpl::getCameras (temp_viz::Camera& camera) { @@ -916,62 +859,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename, 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) -{ - std::string tid = id.empty() ? text : 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 (tid); - if (am_it != shape_actor_map_->end ()) - return std::cout << "[addText] A text with id <"< already exists! Please choose a different id and retry.\n" << std::endl, false; - - // Create an Actor - vtkSmartPointer actor = vtkSmartPointer::New (); - actor->SetPosition (xpos, ypos); - actor->SetInput (text.c_str ()); - - vtkSmartPointer tprop = actor->GetTextProperty (); - tprop->SetFontSize (fontsize); - tprop->SetFontFamilyToArial (); - tprop->SetJustificationToLeft (); - tprop->BoldOn (); - - Color c = vtkcolor(color); - tprop->SetColor (c.val); - renderer_->AddActor(actor); - - // Save the pointer/ID pair to the global actor map - (*shape_actor_map_)[tid] = actor; - return (true); -} - -////////////////////////////////////////////////////////////////////////////////////////// -bool temp_viz::Viz3d::VizImpl::updateText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id) -{ - std::string tid = id.empty() ? text : id; - - ShapeActorMap::iterator am_it = shape_actor_map_->find (tid); - if (am_it == shape_actor_map_->end ()) - return false; - - // Retrieve the Actor - vtkTextActor *actor = vtkTextActor::SafeDownCast (am_it->second); - - actor->SetPosition (xpos, ypos); - actor->SetInput (text.c_str ()); - - vtkTextProperty* tprop = actor->GetTextProperty (); - tprop->SetFontSize (fontsize); - - Color c = vtkcolor(color); - tprop->SetColor (c.val); - - actor->Modified (); - - return (true); -} - bool temp_viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id) { CV_Assert(mesh.cloud.rows == 1 && mesh.cloud.type() == CV_32FC3);