template <typename T> bool
pcl::visualization::ImageViewer::addMask (
const typename pcl::PointCloud<T>::ConstPtr &image,
const pcl::PointCloud<T> &mask,
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::addMask] 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 < mask.points.size (); ++i)
{
pcl::PointXY p_projected;
search.projectPoint (mask.points[i], p_projected);
am_it->canvas->DrawPoint (int (p_projected.x),
int (float (image->height) - p_projected.y));
}
return (true);
}
template <typename T> bool
pcl::visualization::ImageViewer::addRectangle (
const typename pcl::PointCloud<T>::ConstPtr &image,
const pcl::PointCloud<T> &mask,
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::addRectangle] 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
pcl::search::OrganizedNeighbor<T> search;
search.setInputCloud (image);
std::vector<pcl::PointXY> pp_2d (mask.points.size ());
for (size_t i = 0; i < mask.points.size (); ++i)
search.projectPoint (mask.points[i], pp_2d[i]);
pcl::PointXY min_pt_2d, max_pt_2d;
min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
max_pt_2d.x = max_pt_2d.y = std::numeric_limits<float>::min ();
// Search for the two extrema
for (size_t i = 0; i < pp_2d.size (); ++i)
{
if (pp_2d[i].x < min_pt_2d.x) min_pt_2d.x = pp_2d[i].x;
if (pp_2d[i].y < min_pt_2d.y) min_pt_2d.y = pp_2d[i].y;
if (pp_2d[i].x > max_pt_2d.x) max_pt_2d.x = pp_2d[i].x;
if (pp_2d[i].y > max_pt_2d.y) max_pt_2d.y = pp_2d[i].y;
}
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION < 10))
min_pt_2d.y = float (image->height) - min_pt_2d.y;
max_pt_2d.y = float (image->height) - max_pt_2d.y;
#endif
vtkSmartPointer<context_items::Rectangle> rect = vtkSmartPointer<context_items::Rectangle>::New ();
rect->setColors (static_cast<unsigned char> (255.0 * r),
static_cast<unsigned char> (255.0 * g),
static_cast<unsigned char> (255.0 * b));
rect->setOpacity (opacity);
rect->set (min_pt_2d.x, min_pt_2d.y, (max_pt_2d.x - min_pt_2d.x), (max_pt_2d.y - min_pt_2d.y));
am_it->actor->GetScene ()->AddItem (rect);
return (true);
}
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 T> bool
pcl::visualization::ImageViewer::addRectangle (
const typename pcl::PointCloud<T>::ConstPtr &image,
const pcl::PointCloud<T> &mask,
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::addRectangle] 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 (0.0, 255.0, 0.0, opacity * 255.0);
// Construct a search object to get the camera parameters
pcl::search::OrganizedNeighbor<T> search;
search.setInputCloud (image);
std::vector<pcl::PointXY> pp_2d (mask.points.size ());
for (size_t i = 0; i < mask.points.size (); ++i)
search.projectPoint (mask.points[i], pp_2d[i]);
pcl::PointXY min_pt_2d, max_pt_2d;
min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
max_pt_2d.x = max_pt_2d.y = std::numeric_limits<float>::min ();
// Search for the two extrema
for (size_t i = 0; i < pp_2d.size (); ++i)
{
if (pp_2d[i].x < min_pt_2d.x) min_pt_2d.x = pp_2d[i].x;
if (pp_2d[i].y < min_pt_2d.y) min_pt_2d.y = pp_2d[i].y;
if (pp_2d[i].x > max_pt_2d.x) max_pt_2d.x = pp_2d[i].x;
if (pp_2d[i].y > max_pt_2d.y) max_pt_2d.y = pp_2d[i].y;
}
min_pt_2d.y = float (image->height) - min_pt_2d.y;
max_pt_2d.y = float (image->height) - max_pt_2d.y;
am_it->canvas->DrawSegment (int (min_pt_2d.x), int (min_pt_2d.y), int (min_pt_2d.x), int (max_pt_2d.y));
am_it->canvas->DrawSegment (int (min_pt_2d.x), int (max_pt_2d.y), int (max_pt_2d.x), int (max_pt_2d.y));
am_it->canvas->DrawSegment (int (max_pt_2d.x), int (max_pt_2d.y), int (max_pt_2d.x), int (min_pt_2d.y));
am_it->canvas->DrawSegment (int (max_pt_2d.x), int (min_pt_2d.y), int (min_pt_2d.x), int (min_pt_2d.y));
return (true);
}
template <typename T> bool
pcl::visualization::ImageViewer::addMask (
const typename pcl::PointCloud<T>::ConstPtr &image,
const pcl::PointCloud<T> &mask,
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::addMask] 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, false);
}
// Construct a search object to get the camera parameters
pcl::search::OrganizedNeighbor<T> search;
search.setInputCloud (image);
std::vector<float> xy;
xy.reserve (mask.size () * 2);
for (size_t i = 0; i < mask.size (); ++i)
{
pcl::PointXY p_projected;
search.projectPoint (mask[i], p_projected);
xy.push_back (p_projected.x);
xy.push_back (static_cast<float> (image->height) - p_projected.y);
}
vtkSmartPointer<context_items::Points> points = vtkSmartPointer<context_items::Points>::New ();
points->setColors (static_cast<unsigned char> (r*255.0),
static_cast<unsigned char> (g*255.0),
static_cast<unsigned char> (b*255.0));
points->setOpacity (opacity);
points->set (xy);
am_it->actor->GetScene ()->AddItem (points);
return (true);
}
template <typename T> bool
pcl::visualization::ImageViewer::addPlanarPolygon (
const typename pcl::PointCloud<T>::ConstPtr &image,
const pcl::PlanarPolygon<T> &polygon,
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 (255.0, 0.0, 0.0, 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);
}
template <typename T> bool
pcl::visualization::ImageViewer::addRectangle (
const typename pcl::PointCloud<T>::ConstPtr &image,
const T &min_pt,
const T &max_pt,
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::addRectangle] 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, false);
}
// Construct a search object to get the camera parameters
pcl::search::OrganizedNeighbor<T> search;
search.setInputCloud (image);
// Project the 8 corners
T p1, p2, p3, p4, p5, p6, p7, p8;
p1.x = min_pt.x; p1.y = min_pt.y; p1.z = min_pt.z;
p2.x = min_pt.x; p2.y = min_pt.y; p2.z = max_pt.z;
p3.x = min_pt.x; p3.y = max_pt.y; p3.z = min_pt.z;
p4.x = min_pt.x; p4.y = max_pt.y; p4.z = max_pt.z;
p5.x = max_pt.x; p5.y = min_pt.y; p5.z = min_pt.z;
p6.x = max_pt.x; p6.y = min_pt.y; p6.z = max_pt.z;
p7.x = max_pt.x; p7.y = max_pt.y; p7.z = min_pt.z;
p8.x = max_pt.x; p8.y = max_pt.y; p8.z = max_pt.z;
std::vector<pcl::PointXY> pp_2d (8);
search.projectPoint (p1, pp_2d[0]);
search.projectPoint (p2, pp_2d[1]);
search.projectPoint (p3, pp_2d[2]);
search.projectPoint (p4, pp_2d[3]);
search.projectPoint (p5, pp_2d[4]);
search.projectPoint (p6, pp_2d[5]);
search.projectPoint (p7, pp_2d[6]);
search.projectPoint (p8, pp_2d[7]);
pcl::PointXY min_pt_2d, max_pt_2d;
min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
max_pt_2d.x = max_pt_2d.y = -std::numeric_limits<float>::max ();
// Search for the two extrema
for (size_t i = 0; i < pp_2d.size (); ++i)
{
if (pp_2d[i].x < min_pt_2d.x) min_pt_2d.x = pp_2d[i].x;
if (pp_2d[i].y < min_pt_2d.y) min_pt_2d.y = pp_2d[i].y;
if (pp_2d[i].x > max_pt_2d.x) max_pt_2d.x = pp_2d[i].x;
if (pp_2d[i].y > max_pt_2d.y) max_pt_2d.y = pp_2d[i].y;
}
min_pt_2d.y = float (image->height) - min_pt_2d.y;
max_pt_2d.y = float (image->height) - max_pt_2d.y;
vtkSmartPointer<context_items::Rectangle> rect = vtkSmartPointer<context_items::Rectangle>::New ();
rect->setColors (static_cast<unsigned char> (255.0 * r),
static_cast<unsigned char> (255.0 * g),
static_cast<unsigned char> (255.0 * b));
rect->setOpacity (opacity);
rect->set (min_pt_2d.x, min_pt_2d.y, max_pt_2d.x, max_pt_2d.y);
am_it->actor->GetScene ()->AddItem (rect);
return (true);
}