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 PointT> bool
pcl::visualization::ImageViewer::showCorrespondences (
const pcl::PointCloud<PointT> &source_img,
const pcl::PointCloud<PointT> &target_img,
const pcl::Correspondences &correspondences,
int nth,
const std::string &layer_id)
{
if (correspondences.empty ())
{
PCL_DEBUG ("[pcl::visualization::ImageViewer::addCorrespondences] An empty set of correspondences given! Nothing to display.\n");
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::addCorrespondences] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
am_it = createLayer (layer_id, source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1.0, false);
}
int src_size = source_img.width * source_img.height * 3;
int tgt_size = target_img.width * target_img.height * 3;
// Set window size
setSize (source_img.width + target_img.width , std::max (source_img.height, target_img.height));
// Set data size
if (data_size_ < (src_size + tgt_size))
{
data_size_ = src_size + tgt_size;
data_.reset (new unsigned char[data_size_]);
}
// Copy data in VTK format
int j = 0;
for (size_t i = 0; i < std::max (source_img.height, target_img.height); ++i)
{
// Still need to copy the source?
if (i < source_img.height)
{
for (size_t k = 0; k < source_img.width; ++k)
{
data_[j++] = source_img[i * source_img.width + k].r;
data_[j++] = source_img[i * source_img.width + k].g;
data_[j++] = source_img[i * source_img.width + k].b;
}
}
else
{
memcpy (&data_[j], 0, source_img.width * 3);
j += source_img.width * 3;
}
// Still need to copy the target?
if (i < source_img.height)
{
for (size_t k = 0; k < target_img.width; ++k)
{
data_[j++] = target_img[i * source_img.width + k].r;
data_[j++] = target_img[i * source_img.width + k].g;
data_[j++] = target_img[i * source_img.width + k].b;
}
}
else
{
memcpy (&data_[j], 0, target_img.width * 3);
j += target_img.width * 3;
}
}
void* data = const_cast<void*> (reinterpret_cast<const void*> (data_.get ()));
vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
image->SetDimensions (source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1);
image->SetScalarTypeToUnsignedChar ();
image->SetNumberOfScalarComponents (3);
image->AllocateScalars ();
image->GetPointData ()->GetScalars ()->SetVoidArray (data, data_size_, 1);
vtkSmartPointer<PCLContextImageItem> image_item = vtkSmartPointer<PCLContextImageItem>::New ();
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION < 10))
// Now create filter and set previously created transformation
algo_->SetInput (image);
algo_->Update ();
image_item->set (0, 0, algo_->GetOutput ());
#else
image_item->set (0, 0, image);
interactor_style_->adjustCamera (image, ren_);
#endif
am_it->actor->GetScene ()->AddItem (image_item);
image_viewer_->SetSize (image->GetDimensions ()[0], image->GetDimensions ()[1]);
// Draw lines between the best corresponding points
for (size_t i = 0; i < correspondences.size (); i += nth)
{
double r, g, b;
getRandomColors (r, g, b);
unsigned char u_r = static_cast<unsigned char> (255.0 * r);
unsigned char u_g = static_cast<unsigned char> (255.0 * g);
unsigned char u_b = static_cast<unsigned char> (255.0 * b);
vtkSmartPointer<context_items::Circle> query_circle = vtkSmartPointer<context_items::Circle>::New ();
query_circle->setColors (u_r, u_g, u_b);
vtkSmartPointer<context_items::Circle> match_circle = vtkSmartPointer<context_items::Circle>::New ();
match_circle->setColors (u_r, u_g, u_b);
vtkSmartPointer<context_items::Line> line = vtkSmartPointer<context_items::Line>::New ();
line->setColors (u_r, u_g, u_b);
float query_x = correspondences[i].index_query % source_img.width;
float match_x = correspondences[i].index_match % target_img.width + source_img.width;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
float query_y = correspondences[i].index_query / source_img.width;
float match_y = correspondences[i].index_match / target_img.width;
#else
float query_y = getSize ()[1] - correspondences[i].index_query / source_img.width;
float match_y = getSize ()[1] - correspondences[i].index_match / target_img.width;
#endif
query_circle->set (query_x, query_y, 3.0);
match_circle->set (match_x, match_y, 3.0);
line->set (query_x, query_y, match_x, match_y);
am_it->actor->GetScene ()->AddItem (query_circle);
am_it->actor->GetScene ()->AddItem (match_circle);
am_it->actor->GetScene ()->AddItem (line);
}
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);
}
