void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count = 0;
std::stringstream ss;
ss << "Once per viewer loop: " << count++ << std::endl;
viewer.removeShape("text", 0);
viewer.addText(ss.str(), 200, 200, "text", 0);
user_data++;
}
void Inspector::disableModel()
{
use_intrinsics_ = false;
pcd_vis_.removeShape("text");
int x = 10;
int y = 10;
int fontsize = 16;
pcd_vis_.addText("raw", x, y, fontsize, 1, 0, 0, "text");
}
void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count = 0;
std::stringstream ss;
ss << "Once per viewer loop: " << count++;
viewer.removeShape ("text", 0);
viewer.addText (ss.str(), 200, 300, "text", 0);
//FIXME: possible race condition here:
user_data++;
}
/* \brief Helper function that draw info for the user on the viewer
*
*/
void showLegend(bool showCubes)
{
char dataDisplay[256];
sprintf(dataDisplay, "Displaying data as %s", (showCubes) ? ("CUBES") : ("POINTS"));
viz.removeShape("disp_t");
viz.addText(dataDisplay, 0, 60, 1.0, 0.0, 0.0, "disp_t");
char level[256];
sprintf(level, "Displayed depth is %d on %d", displayedDepth, octree.getTreeDepth());
viz.removeShape("level_t1");
viz.addText(level, 0, 45, 1.0, 0.0, 0.0, "level_t1");
viz.removeShape("level_t2");
sprintf(level, "Voxel size: %.4fm [%lu voxels]", sqrt(octree.getVoxelSquaredSideLen(displayedDepth)),
displayCloud->points.size());
viz.addText(level, 0, 30, 1.0, 0.0, 0.0, "level_t2");
viz.removeShape("org_t");
if (showPointsWithCubes)
viz.addText("Displaying original cloud", 0, 15, 1.0, 0.0, 0.0, "org_t");
}
void
viewer_initial_cloud(pcl::visualization::PCLVisualizer& viewer)
{
//int text_id(0);
long cloud_size = initial_cloud->width * initial_cloud->height;
std::stringstream info;
info << "Points in initial cloud: " << cloud_size;
std::cout << "Initial cloud rendered with " << cloud_size << " points" << std::endl;
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(initial_cloud, 255, 0, 0);
viewer.addPointCloud<pcl::PointXYZ> (initial_cloud, single_color, "initial cloud");
viewer.addText(info.str(), 10, 20, "points", 0);
}
void Inspector::enableModel()
{
use_intrinsics_ = true;
if(use_intrinsics_ && !dddm_) {
cout << "Cannot apply non-existent distortion model. Supply one at the command line." << endl;
use_intrinsics_ = false;
return;
}
pcd_vis_.removeShape("text");
int x = 10;
int y = 10;
int fontsize = 16;
pcd_vis_.addText("undistorted", x, y, fontsize, 0, 1, 0, "text");
}
void
viewer_matched_cloud(pcl::visualization::PCLVisualizer& viewer)
{
int text_id(0);
long cloud_size = matched_cloud->width * matched_cloud->height;
std::stringstream info;
info << "Points in matched cloud: " << cloud_size;
std::cout << "Matched cloud rendered with " << cloud_size << " points" << std::endl;
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(initial_cloud, 0, 255, 0);
viewer.addPointCloud<pcl::PointXYZ> (matched_cloud, single_color, "matched cloud");
viewer.addText(info.str(), 10, 20, "points", text_id);
if (r > 0)
{
viewer.addSphere (o, r, "sphere", 0);
}
}
void
initVisualizer (pcl::visualization::PCLVisualizer &viewer)
{
// Setting the initial viewer parameters
viewer.initCameraParameters ();
viewer.setBackgroundColor (0, 0, 0);
viewer.addCoordinateSystem (1000);
viewer.camera_.view[0] = 0;
viewer.camera_.view[1] = 0;
viewer.camera_.view[2] = 1;
viewer.camera_.pos[0] = 8000;
viewer.camera_.pos[1] = 20000;
viewer.camera_.pos[2] = 2500;
viewer.updateCamera ();
viewer.addText ("Shift + click to select noisy objects. \nPress 0 to confirm the removal.", 50, 300, "user");
}
void viewerUpdate(pcl::visualization::PCLVisualizer& viewer)
{
std::stringstream ss;
ss << "Rawlog entry: " << rawlogEntry;
viewer.removeShape ("text", 0);
viewer.addText (ss.str(), 10,50, "text", 0);
static mrpt::system::TTimeStamp last_time = INVALID_TIMESTAMP;
{ // Mutex protected
std::lock_guard<std::mutex> lock(td_cs);
if (td.new_timestamp!=last_time)
{
last_time = td.new_timestamp;
viewer.removePointCloud("cloud", 0);
viewer.addPointCloud (td.new_cloud,"cloud",0);
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3.0);
const size_t N = td.new_cloud->size();
std::cout << "Showing new point cloud of size=" << N << std::endl;
static bool first = true;
if (N && first)
{
first = false;
//viewer.resetCameraViewpoint("cloud");
}
#if 0
std::cout << mrpt::format(
"camera: clip = %f %f\n"
" focal = %f %f %f\n"
" pos = %f %f %f\n"
" view = %f %f %f\n",
viewer.camera_.clip[0],viewer.camera_.clip[1],
viewer.camera_.focal[0],viewer.camera_.focal[1],viewer.camera_.focal[2],
viewer.camera_.pos[0],viewer.camera_.pos[1],viewer.camera_.pos[2],
viewer.camera_.view[0],viewer.camera_.view[1],viewer.camera_.view[2]);
#endif
}
}
}
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
viz_cb (pcl::visualization::PCLVisualizer& viz)
{
boost::mutex::scoped_lock lock (mtx_);
if (!cloud_pass_)
{
boost::this_thread::sleep (boost::posix_time::seconds (1));
return;
}
if (new_cloud_ && cloud_pass_downsampled_)
{
CloudPtr cloud_pass;
if (!visualize_non_downsample_)
cloud_pass = cloud_pass_downsampled_;
else
cloud_pass = cloud_pass_;
if (!viz.updatePointCloud (cloud_pass, "cloudpass"))
{
viz.addPointCloud (cloud_pass, "cloudpass");
viz.resetCameraViewpoint ("cloudpass");
}
}
if (new_cloud_ && reference_)
{
bool ret = drawParticles (viz);
if (ret)
{
drawResult (viz);
// draw some texts
viz.removeShape ("N");
viz.addText ((boost::format ("number of Reference PointClouds: %d") % tracker_->getReferenceCloud ()->points.size ()).str (),
10, 20, 20, 1.0, 1.0, 1.0, "N");
viz.removeShape ("M");
viz.addText ((boost::format ("number of Measured PointClouds: %d") % cloud_pass_downsampled_->points.size ()).str (),
10, 40, 20, 1.0, 1.0, 1.0, "M");
viz.removeShape ("tracking");
viz.addText ((boost::format ("tracking: %f fps") % (1.0 / tracking_time_)).str (),
10, 60, 20, 1.0, 1.0, 1.0, "tracking");
viz.removeShape ("downsampling");
viz.addText ((boost::format ("downsampling: %f fps") % (1.0 / downsampling_time_)).str (),
10, 80, 20, 1.0, 1.0, 1.0, "downsampling");
viz.removeShape ("computation");
viz.addText ((boost::format ("computation: %f fps") % (1.0 / computation_time_)).str (),
10, 100, 20, 1.0, 1.0, 1.0, "computation");
viz.removeShape ("particles");
viz.addText ((boost::format ("particles: %d") % tracker_->getParticles ()->points.size ()).str (),
10, 120, 20, 1.0, 1.0, 1.0, "particles");
}
}
new_cloud_ = false;
}
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);
}
}
}
}