void label (pcl::visualization::PCLVisualizer& viewer)
{
for(size_t i = 0; i < labels.size(); i++)
{
labels[i].z = labels[i].z; // - .05;
char f[5];
sprintf(f,"%d",i);
viewer.addText3D (f, labels[i], 0.01, 1, 1, 1, f, 0);
}
}
void PbMapMaker::viz_cb (pcl::visualization::PCLVisualizer& viz)
{
if (mPbMap.globalMapPtr->empty())
{
mrpt::system::sleep(10);
return;
}
{ mrpt::synch::CCriticalSectionLocker csl(&CS_visualize);
// Render the data
{
viz.removeAllShapes();
viz.removeAllPointClouds();
char name[1024];
if(graphRepresentation)
{
for(size_t i=0; i<mPbMap.vPlanes.size(); i++)
{
pcl::PointXYZ center(2*mPbMap.vPlanes[i].v3center[0], 2*mPbMap.vPlanes[i].v3center[1], 2*mPbMap.vPlanes[i].v3center[2]);
double radius = 0.1 * sqrt(mPbMap.vPlanes[i].areaVoxels);
sprintf (name, "sphere%u", static_cast<unsigned>(i));
viz.addSphere (center, radius, ared[i%10], agrn[i%10], ablu[i%10], name);
if( !mPbMap.vPlanes[i].label.empty() )
viz.addText3D (mPbMap.vPlanes[i].label, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], mPbMap.vPlanes[i].label);
else
{
sprintf (name, "P%u", static_cast<unsigned>(i));
viz.addText3D (name, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], name);
}
// Draw edges
if(!configPbMap.graph_mode) // Nearby neighbors
for(set<unsigned>::iterator it = mPbMap.vPlanes[i].nearbyPlanes.begin(); it != mPbMap.vPlanes[i].nearbyPlanes.end(); it++)
{
if(*it > mPbMap.vPlanes[i].id)
break;
sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(*it));
pcl::PointXYZ center_it(2*mPbMap.vPlanes[*it].v3center[0], 2*mPbMap.vPlanes[*it].v3center[1], 2*mPbMap.vPlanes[*it].v3center[2]);
viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);
}
else
for(map<unsigned,unsigned>::iterator it = mPbMap.vPlanes[i].neighborPlanes.begin(); it != mPbMap.vPlanes[i].neighborPlanes.end(); it++)
{
if(it->first > mPbMap.vPlanes[i].id)
break;
sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
pcl::PointXYZ center_it(2*mPbMap.vPlanes[it->first].v3center[0], 2*mPbMap.vPlanes[it->first].v3center[1], 2*mPbMap.vPlanes[it->first].v3center[2]);
viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);
sprintf (name, "edge%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
char commonObs[8];
sprintf (commonObs, "%u", it->second);
pcl::PointXYZ half_edge( (center_it.x+center.x)/2, (center_it.y+center.y)/2, (center_it.z+center.z)/2 );
viz.addText3D (commonObs, half_edge, 0.05, 1.0, 1.0, 1.0, name);
}
}
}
else
{ // Regular representation
if (!viz.updatePointCloud (mPbMap.globalMapPtr, "cloud"))
viz.addPointCloud (mPbMap.globalMapPtr, "cloud");
if(mpPbMapLocaliser != NULL)
if(mpPbMapLocaliser->alignedModelPtr){
if (!viz.updatePointCloud (mpPbMapLocaliser->alignedModelPtr, "model"))
viz.addPointCloud (mpPbMapLocaliser->alignedModelPtr, "model");}
sprintf (name, "PointCloud size %u", static_cast<unsigned>( mPbMap.globalMapPtr->size() ) );
viz.addText(name, 10, 20);
for(size_t i=0; i<mPbMap.vPlanes.size(); i++)
{
Plane &plane_i = mPbMap.vPlanes[i];
sprintf (name, "normal_%u", static_cast<unsigned>(i));
pcl::PointXYZ pt1, pt2; // Begin and end points of normal's arrow for visualization
pt1 = pcl::PointXYZ(plane_i.v3center[0], plane_i.v3center[1], plane_i.v3center[2]);
pt2 = pcl::PointXYZ(plane_i.v3center[0] + (0.5f * plane_i.v3normal[0]),
plane_i.v3center[1] + (0.5f * plane_i.v3normal[1]),
plane_i.v3center[2] + (0.5f * plane_i.v3normal[2]));
viz.addArrow (pt2, pt1, ared[i%10], agrn[i%10], ablu[i%10], false, name);
// Draw Ppal diretion
// if( plane_i.elongation > 1.3 )
// {
// sprintf (name, "ppalComp_%u", static_cast<unsigned>(i));
// pcl::PointXYZ pt3 = pcl::PointXYZ ( plane_i.v3center[0] + (0.2f * plane_i.v3PpalDir[0]),
// plane_i.v3center[1] + (0.2f * plane_i.v3PpalDir[1]),
// plane_i.v3center[2] + (0.2f * plane_i.v3PpalDir[2]));
// viz.addArrow (pt3, plane_i.pt1, ared[i%10], agrn[i%10], ablu[i%10], false, name);
// }
// if( !plane_i.label.empty() )
// viz.addText3D (plane_i.label, pt2, 0.1, ared[i%10], agrn[i%10], ablu[i%10], plane_i.label);
// else
{
sprintf (name, "n%u", static_cast<unsigned>(i));
// sprintf (name, "n%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(plane_i.semanticGroup));
viz.addText3D (name, pt2, 0.1, ared[i%10], agrn[i%10], ablu[i%10], name);
}
// sprintf (name, "planeRaw_%02u", static_cast<unsigned>(i));
// viz.addPointCloud (plane_i.planeRawPointCloudPtr, name);// contourPtr, planePointCloudPtr, polygonContourPtr
// if(!configPbMap.makeClusters)
// {
// sprintf (name, "plane_%02u", static_cast<unsigned>(i));
// pcl::visualization::PointCloudColorHandlerCustom <PointT> color (plane_i.planePointCloudPtr, red[i%10], grn[i%10], blu[i%10]);
//// pcl::visualization::PointCloudColorHandlerCustom <PointT> color (plane_i.planePointCloudPtr, red[plane_i.semanticGroup%10], grn[plane_i.semanticGroup%10], blu[plane_i.semanticGroup%10]);
// viz.addPointCloud (plane_i.planePointCloudPtr, color, name);
// viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, name);
// }
// else
// {
// sprintf (name, "plane_%02u", static_cast<unsigned>(i));
// pcl::visualization::PointCloudColorHandlerCustom <PointT> color (plane_i.planePointCloudPtr, red[plane_i.semanticGroup%10], grn[plane_i.semanticGroup%10], blu[plane_i.semanticGroup%10]);
// viz.addPointCloud (plane_i.planePointCloudPtr, color, name);
// viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 4, name);
// }
// sprintf (name, "planeBorder_%02u", static_cast<unsigned>(i));
// pcl::visualization::PointCloudColorHandlerCustom <PointT> color2 (plane_i.contourPtr, 255, 255, 255);
// viz.addPointCloud (plane_i.contourPtr, color2, name);// contourPtr, planePointCloudPtr, polygonContourPtr
// //Edges
// if(mPbMap.edgeCloudPtr->size() > 0)
// {
// sprintf (name, "planeEdge_%02u", static_cast<unsigned>(i));
// pcl::visualization::PointCloudColorHandlerCustom <PointT> color4 (mPbMap.edgeCloudPtr, 255, 255, 0);
// viz.addPointCloud (mPbMap.edgeCloudPtr, color4, name);// contourPtr, planePointCloudPtr, polygonContourPtr
// viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, name);
//
// sprintf (name, "edge%u", static_cast<unsigned>(i));
// viz.addLine (mPbMap.edgeCloudPtr->points.front(), mPbMap.edgeCloudPtr->points.back(), ared[3], agrn[3], ablu[3], name);
// }
sprintf (name, "approx_plane_%02d", int (i));
viz.addPolygon<PointT> (plane_i.polygonContourPtr, 0.5 * red[i%10], 0.5 * grn[i%10], 0.5 * blu[i%10], name);
}
//if(configPbMap.makeClusters)
// for(map<unsigned, std::vector<unsigned> >::iterator it=clusterize->groups.begin(); it != clusterize->groups.end(); it++)
// for(size_t i=0; i < it->second.size(); i++)
// {
// unsigned planeID = it->second[i];
// Plane &plane_i = mPbMap.vPlanes[planeID];
// sprintf (name, "plane_%02u", static_cast<unsigned>(planeID));
// pcl::visualization::PointCloudColorHandlerCustom <PointT> color (plane_i.planePointCloudPtr, red[planeID%10], grn[planeID%10], blu[planeID%10]);
// viz.addPointCloud (plane_i.planePointCloudPtr, color, name);// contourPtr, planePointCloudPtr, polygonContourPtr
// viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, name);
// }
// Draw recognized plane labels
if(mpPbMapLocaliser != NULL)
for(map<string, pcl::PointXYZ>::iterator it = mpPbMapLocaliser->foundPlaces.begin(); it != mpPbMapLocaliser->foundPlaces.end(); it++)
viz.addText3D (it->first, it->second, 0.3, 0.9, 0.9, 0.9, it->first);
}
}
}
}
void PbMapVisualizer::viz_cb (pcl::visualization::PCLVisualizer& viz)
{
if (pbmap.globalMapPtr->empty())
{
mrpt::system::sleep(10);
return;
}
// Render the data
{
viz.removeAllShapes();
viz.removeAllPointClouds();
char name[1024];
if(graphRepresentation)
{
// cout << "show graphRepresentation\n";
for(size_t i=0; i<pbmap.vPlanes.size(); i++)
{
pcl::PointXYZ center(2*pbmap.vPlanes[i].v3center[0], 2*pbmap.vPlanes[i].v3center[1], 2*pbmap.vPlanes[i].v3center[2]);
double radius = 0.1 * sqrt(pbmap.vPlanes[i].areaVoxels);
// cout << "radius " << radius << endl;
sprintf (name, "sphere%u", static_cast<unsigned>(i));
viz.addSphere (center, radius, ared[i%10], agrn[i%10], ablu[i%10], name);
if( !pbmap.vPlanes[i].label.empty() )
viz.addText3D (pbmap.vPlanes[i].label, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], pbmap.vPlanes[i].label);
else
{
sprintf (name, "P%u", static_cast<unsigned>(i));
viz.addText3D (name, center, 0.1, ared[i%10], agrn[i%10], ablu[i%10], name);
}
// Draw edges
// for(set<unsigned>::iterator it = pbmap.vPlanes[i].nearbyPlanes.begin(); it != pbmap.vPlanes[i].nearbyPlanes.end(); it++)
// {
// if(*it > pbmap.vPlanes[i].id)
// break;
//
// sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(*it));
// pcl::PointXYZ center_it(2*pbmap.vPlanes[*it].v3center[0], 2*pbmap.vPlanes[*it].v3center[1], 2*pbmap.vPlanes[*it].v3center[2]);
// viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);
// }
for(map<unsigned,unsigned>::iterator it = pbmap.vPlanes[i].neighborPlanes.begin(); it != pbmap.vPlanes[i].neighborPlanes.end(); it++)
{
if(it->first > pbmap.vPlanes[i].id)
break;
sprintf (name, "commonObs%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
pcl::PointXYZ center_it(2*pbmap.vPlanes[it->first].v3center[0], 2*pbmap.vPlanes[it->first].v3center[1], 2*pbmap.vPlanes[it->first].v3center[2]);
viz.addLine (center, center_it, ared[i%10], agrn[i%10], ablu[i%10], name);
sprintf (name, "edge%u_%u", static_cast<unsigned>(i), static_cast<unsigned>(it->first));
char commonObs[8];
sprintf (commonObs, "%u", it->second);
pcl::PointXYZ half_edge( (center_it.x+center.x)/2, (center_it.y+center.y)/2, (center_it.z+center.z)/2 );
viz.addText3D (commonObs, half_edge, 0.05, 1.0, 1.0, 1.0, name);
}
}
}
else
{ // Regular representation
if (!viz.updatePointCloud (pbmap.globalMapPtr, "cloud"))
viz.addPointCloud (pbmap.globalMapPtr, "cloud");
sprintf (name, "PointCloud size %u", static_cast<unsigned>( pbmap.globalMapPtr->size() ) );
viz.addText(name, 10, 20);
for(size_t i=0; i<pbmap.vPlanes.size(); i++)
{
Plane &plane_i = pbmap.vPlanes[i];
// sprintf (name, "normal_%u", static_cast<unsigned>(i));
name[0] = *(mrpt::format("normal_%u", static_cast<unsigned>(i)).c_str());
pcl::PointXYZ pt1, pt2; // Begin and end points of normal's arrow for visualization
pt1 = pcl::PointXYZ(plane_i.v3center[0], plane_i.v3center[1], plane_i.v3center[2]);
pt2 = pcl::PointXYZ(plane_i.v3center[0] + (0.5f * plane_i.v3normal[0]),
plane_i.v3center[1] + (0.5f * plane_i.v3normal[1]),
plane_i.v3center[2] + (0.5f * plane_i.v3normal[2]));
viz.addArrow (pt2, pt1, ared[i%10], agrn[i%10], ablu[i%10], false, name);
if( !plane_i.label.empty() )
viz.addText3D (plane_i.label, pt2, 0.1, ared[i%10], agrn[i%10], ablu[i%10], plane_i.label);
else
{
sprintf (name, "n%u", static_cast<unsigned>(i));
viz.addText3D (name, pt2, 0.1, ared[i%10], agrn[i%10], ablu[i%10], name);
}
sprintf (name, "approx_plane_%02d", int (i));
viz.addPolygon<PointT> (plane_i.polygonContourPtr, 0.5 * red[i%10], 0.5 * grn[i%10], 0.5 * blu[i%10], name);
}
}
}
}