template <typename T> bool
pcl::visualization::ImageViewer::addPlanarPolygon (
const typename pcl::PointCloud<T>::ConstPtr &image,
const pcl::PlanarPolygon<T> &polygon,
double r, double g, double b,
const std::string &layer_id, double opacity)
{
// We assume that the data passed into image is organized, otherwise this doesn't make sense
if (!image->isOrganized ())
return (false);
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
if (am_it == layer_map_.end ())
{
PCL_DEBUG ("[pcl::visualization::ImageViewer::addPlanarPolygon] No layer with ID'=%s' found. Creating new one...\n", layer_id.c_str ());
am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, true);
}
// Construct a search object to get the camera parameters and fill points
pcl::search::OrganizedNeighbor<T> search;
search.setInputCloud (image);
const float image_height_f = static_cast<float> (image->height);
std::vector<float> xy;
xy.reserve ((polygon.getContour ().size () + 1) * 2);
for (size_t i = 0; i < polygon.getContour ().size (); ++i)
{
pcl::PointXY p;
search.projectPoint (polygon.getContour ()[i], p);
xy.push_back (p.x);
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION < 10))
xy.push_back (image_height_f - p.y);
#else
xy.push_back (p.y);
#endif
}
// Close the polygon
xy[xy.size () - 2] = xy[0];
xy[xy.size () - 1] = xy[1];
vtkSmartPointer<context_items::Polygon> poly = vtkSmartPointer<context_items::Polygon>::New ();
poly->setColors (static_cast<unsigned char> (r * 255.0),
static_cast<unsigned char> (g * 255.0),
static_cast<unsigned char> (b * 255.0));
poly->set (xy);
am_it->actor->GetScene ()->AddItem (poly);
return (true);
}
template <typename PointT> vtkSmartPointer<vtkDataSet>
pcl::visualization::createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon)
{
vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
if (planar_polygon.getContour ().empty ())
return (poly_grid);
vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New ();
poly_points->SetNumberOfPoints (planar_polygon.getContour ().size () + 1);
polygon->GetPointIds ()->SetNumberOfIds (planar_polygon.getContour ().size () + 1);
size_t i;
for (i = 0; i < planar_polygon.getContour ().size (); ++i)
{
poly_points->SetPoint (i, planar_polygon.getContour ()[i].x,
planar_polygon.getContour ()[i].y,
planar_polygon.getContour ()[i].z);
polygon->GetPointIds ()->SetId (i, i);
}
poly_points->SetPoint (i, planar_polygon.getContour ()[0].x,
planar_polygon.getContour ()[0].y,
planar_polygon.getContour ()[0].z);
polygon->GetPointIds ()->SetId (i, i);
allocVtkUnstructuredGrid (poly_grid);
poly_grid->Allocate (1, 1);
poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
poly_grid->SetPoints (poly_points);
poly_grid->Update ();
return (poly_grid);
}
void Geometry::Face2Polygon(const TopoDS_Face &f, pcl::PlanarPolygon<PointT>& poly) {
VertexSet vertices;
GetVertices(f,vertices);
PointCloud cloud;
for (VertexSet::iterator it=vertices.begin();it!=vertices.end();++it ){
PointT p;
Vertex2Point(*it,p);
cloud.push_back(p);
}
poly.setContour(cloud);
}
template <typename T> bool
pcl::visualization::ImageViewer::addPlanarPolygon (
const typename pcl::PointCloud<T>::ConstPtr &image,
const pcl::PlanarPolygon<T> &polygon,
double r, double g, double b,
const std::string &layer_id, double opacity)
{
// We assume that the data passed into image is organized, otherwise this doesn't make sense
if (!image->isOrganized ())
return (false);
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
if (am_it == layer_map_.end ())
{
PCL_DEBUG ("[pcl::visualization::ImageViewer::addPlanarPolygon] No layer with ID'=%s' found. Creating new one...\n", layer_id.c_str ());
am_it = createLayer (layer_id, image_viewer_->GetRenderWindow ()->GetSize ()[0] - 1, image_viewer_->GetRenderWindow ()->GetSize ()[1] - 1, opacity, true);
}
am_it->canvas->SetDrawColor (r * 255.0, g * 255.0, b * 255.0, opacity * 255.0);
// Construct a search object to get the camera parameters
pcl::search::OrganizedNeighbor<T> search;
search.setInputCloud (image);
for (size_t i = 0; i < polygon.getContour ().size () - 1; ++i)
{
pcl::PointXY p1, p2;
search.projectPoint (polygon.getContour ()[i], p1);
search.projectPoint (polygon.getContour ()[i+1], p2);
am_it->canvas->DrawSegment (int (p1.x), int (float (image->height) - p1.y),
int (p2.x), int (float (image->height) - p2.y));
}
// Close the polygon
pcl::PointXY p1, p2;
search.projectPoint (polygon.getContour ()[polygon.getContour ().size () - 1], p1);
search.projectPoint (polygon.getContour ()[0], p2);
am_it->canvas->DrawSegment (int (p1.x), int (float (image->height) - p1.y),
int (p2.x), int (float (image->height) - p2.y));
return (true);
}