void SeedGLWidget::paintGL()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
int viewportWidth = _viewportHeight*(_widgetWidth-_planeWidth)*1.0/_widgetHeight;
int anchorWidth = 200, anchorHeight = 200;
glViewport(0,0,_widgetWidth-_planeWidth, _widgetHeight);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, viewportWidth, 0, _viewportHeight, -2000, 2000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_DEPTH_TEST);
glPushMatrix();
glTranslatef(_translateX, _translateY, 0);
glTranslatef(viewportWidth/2.0, _viewportHeight/2.0, 0);
setRotationMatrix();
glColor3f(1, 1, 1);
if (_volumeData)
{
switch (_viewpoint)
{
case VP_AXIAL:
_volumeData->drawAxialSlice();
break;
case VP_CORONAL:
_volumeData->drawCoronalSlice();
break;
case VP_SAGITTAL:
_volumeData->drawSagittalSlice();
break;
}
}
drawSeedRegion();
glPopMatrix();
if (_bDrawing)
{
drawPenTrack();
}
glViewport(_widgetWidth-_planeWidth-anchorWidth, 0, anchorWidth, anchorHeight);
drawAnchor();
drawImageInfo();
drawPlanes(_widgetWidth-_planeWidth, _planeWidth, _widgetHeight);
}
void PlaneSegmenter::update()
{
if(!rgb_img.rows || !depth_img.rows) return;
rgb_mutex.lock(); depth_mutex.lock();
computeNormals();
computeDirections();
planes.clear();
for(unsigned int d=0; d<directions.size();++d)
{
float px_avg = 0.f;
float py_avg = 0.f;
float pz_avg = 0.f;
float nx_avg = 0.f;
float ny_avg = 0.f;
float nz_avg = 0.f;
for(unsigned int p=0; p<directions.at(d).size(); ++p)
{
px_avg += directions.at(d).at(p).pos.x/directions.at(d).size();
py_avg += directions.at(d).at(p).pos.y/directions.at(d).size();
pz_avg += directions.at(d).at(p).pos.z/directions.at(d).size();
nx_avg += directions.at(d).at(p).norm.x/directions.at(d).size();
ny_avg += directions.at(d).at(p).norm.y/directions.at(d).size();
nz_avg += directions.at(d).at(p).norm.z/directions.at(d).size();
}
planes.push_back(PlaneSegmenter::Point(-d,cv::Point3f(px_avg,py_avg,pz_avg), cv::Point3f(nx_avg,ny_avg,nz_avg)));
}
// std::cout<<"planes num: "<< planes.size() << std::endl;
std::cerr<<"-";
drawPlanes();
// cv::imshow("update depth", depth_img);
cv::imshow("update rgb", rgb_img);
depth_mutex.unlock(); rgb_mutex.unlock();
cv::waitKey(1);
}
