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opengl_viewer.cpp
executable file
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opengl_viewer.cpp
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#include "opengl_viewer.h"
#include <cmath>
#include <typeinfo>
#include <cstdlib>
#include <pcl/pcl_config.h>
#ifdef OPENGL_IS_A_FRAMEWORK
# include <OpenGL/gl.h>
# include <OpenGL/glu.h>
#else
# include <GL/gl.h>
# include <GL/glu.h>
#endif
#include <QtOpenGL>
#include <pcl/common/centroid.h>
#include <pcl/common/impl/centroid.hpp> // TODO: PointIHS is not registered
#include "visibility_confidence.h"
////////////////////////////////////////////////////////////////////////////////
// FaceVertexMesh
////////////////////////////////////////////////////////////////////////////////
pcl::ihs::detail::FaceVertexMesh::FaceVertexMesh ()
: vertices (),
triangles (),
transformation (Eigen::Isometry3d::Identity ())
{
}
////////////////////////////////////////////////////////////////////////////////
pcl::ihs::detail::FaceVertexMesh::FaceVertexMesh (const Mesh& mesh, const Eigen::Isometry3d& T)
: vertices (mesh.getVertexDataCloud ()),
triangles (),
transformation (T)
{
if (typeid (Mesh::MeshTag) != typeid (pcl::geometry::TriangleMeshTag))
{
std::cerr << "In opengl_viewer.cpp: Only triangle meshes are currently supported!\n";
exit (EXIT_FAILURE);
}
for (CloudIHS::iterator it=vertices.begin (); it!=vertices.end (); ++it)
{
std::swap (it->r, it->b);
}
triangles.reserve (mesh.sizeFaces ());
pcl::ihs::detail::FaceVertexMesh::Triangle triangle;
for (unsigned int i=0; i<mesh.sizeFaces (); ++i)
{
Mesh::VertexAroundFaceCirculator circ = mesh.getVertexAroundFaceCirculator (Mesh::FaceIndex (i));
triangle.first = (circ++).getTargetIndex ().get ();
triangle.second = (circ++).getTargetIndex ().get ();
triangle.third = (circ ).getTargetIndex ().get ();
triangles.push_back (triangle);
}
}
////////////////////////////////////////////////////////////////////////////////
// OpenGLViewer
////////////////////////////////////////////////////////////////////////////////
pcl::ihs::OpenGLViewer::OpenGLViewer (QWidget* parent)
: QGLWidget (parent),
mutex_vis_ (),
timer_vis_ (new QTimer (this)),
colormap_ (Colormap::Constant (255)),
vis_conf_norm_ (1),
drawn_meshes_ (),
mesh_representation_ (MR_POINTS),
coloring_ (COL_RGB),
draw_box_ (false),
box_coefficients_ (),
scaling_factor_ (1.),
R_cam_ (1., 0., 0., 0.),
t_cam_ (0., 0., 0.),
cam_pivot_ (0., 0., 0.),
cam_pivot_id_ (""),
mouse_pressed_begin_ (false),
x_prev_ (0),
y_prev_ (0)
{
// Timer: Defines the update rate for the visualization
connect (timer_vis_.get (), SIGNAL (timeout ()), this, SLOT (timerCallback ()));
timer_vis_->start (33);
// http://doc.qt.digia.com/qt/opengl-overpainting.html
QWidget::setAutoFillBackground (false);
// http://doc.qt.digia.com/qt/qwidget.html#keyPressEvent
this->setFocusPolicy (Qt::StrongFocus);
// http://doc.qt.digia.com/qt/qmetatype.html#qRegisterMetaType
qRegisterMetaType <pcl::ihs::OpenGLViewer::MeshRepresentation> ("MeshRepresentation");
qRegisterMetaType <pcl::ihs::OpenGLViewer::Coloring> ("Coloring");
//////////////////////////////////////////////////////////////////////////////
// Code to generate the colormap (I don't want to link against vtk just for the colormap).
//////////////////////////////////////////////////////////////////////////////
//#include <cstdlib>
//#include <iomanip>
//#include <vtkColorTransferFunction.h>
//#include <vtkSmartPointer.h>
//int
//main ()
//{
// static const unsigned int n = 256;
// // double rgb_1 [] = { 59./255., 76./255., 192./255.};
// // double rgb_2 [] = {180./255., 4./255., 38./255.};
// double rgb_1 [] = {180./255., 0./255., 0./255.};
// double rgb_2 [] = { 0./255., 180./255., 0./255.};
// vtkSmartPointer <vtkColorTransferFunction> ctf = vtkColorTransferFunction::New ();
// ctf->SetColorSpaceToDiverging ();
// ctf->AddRGBPoint ( 0., rgb_1 [0], rgb_1 [1], rgb_1 [2]);
// ctf->AddRGBPoint ( 1., rgb_2 [0], rgb_2 [1], rgb_2 [2]);
// ctf->Build ();
// const unsigned char* colormap = ctf->GetTable (0., 1., n);
// for (unsigned int i=0; i<n; ++i)
// {
// const unsigned int r = static_cast <unsigned int> (colormap [3 * i ]);
// const unsigned int g = static_cast <unsigned int> (colormap [3 * i + 1]);
// const unsigned int b = static_cast <unsigned int> (colormap [3 * i + 2]);
// std::cerr << "colormap_.col ("
// << std::setw (3) << i << ") = Color ("
// << std::setw (3) << r << ", "
// << std::setw (3) << g << ", "
// << std::setw (3) << b << ");\n";
// }
// return (EXIT_SUCCESS);
//}
colormap_.col ( 0) = Color (180, 0, 0);
colormap_.col ( 1) = Color (182, 9, 1);
colormap_.col ( 2) = Color (184, 17, 1);
colormap_.col ( 3) = Color (186, 24, 2);
colormap_.col ( 4) = Color (188, 29, 2);
colormap_.col ( 5) = Color (190, 33, 3);
colormap_.col ( 6) = Color (192, 38, 4);
colormap_.col ( 7) = Color (194, 42, 5);
colormap_.col ( 8) = Color (196, 46, 6);
colormap_.col ( 9) = Color (197, 49, 7);
colormap_.col ( 10) = Color (199, 53, 9);
colormap_.col ( 11) = Color (201, 56, 10);
colormap_.col ( 12) = Color (203, 59, 12);
colormap_.col ( 13) = Color (205, 63, 13);
colormap_.col ( 14) = Color (207, 66, 15);
colormap_.col ( 15) = Color (208, 69, 17);
colormap_.col ( 16) = Color (210, 72, 18);
colormap_.col ( 17) = Color (212, 75, 20);
colormap_.col ( 18) = Color (214, 78, 21);
colormap_.col ( 19) = Color (215, 81, 23);
colormap_.col ( 20) = Color (217, 84, 25);
colormap_.col ( 21) = Color (219, 87, 26);
colormap_.col ( 22) = Color (221, 89, 28);
colormap_.col ( 23) = Color (222, 92, 30);
colormap_.col ( 24) = Color (224, 95, 32);
colormap_.col ( 25) = Color (225, 98, 33);
colormap_.col ( 26) = Color (227, 101, 35);
colormap_.col ( 27) = Color (229, 103, 37);
colormap_.col ( 28) = Color (230, 106, 39);
colormap_.col ( 29) = Color (232, 109, 40);
colormap_.col ( 30) = Color (233, 112, 42);
colormap_.col ( 31) = Color (235, 114, 44);
colormap_.col ( 32) = Color (236, 117, 46);
colormap_.col ( 33) = Color (238, 120, 48);
colormap_.col ( 34) = Color (239, 122, 50);
colormap_.col ( 35) = Color (241, 125, 52);
colormap_.col ( 36) = Color (242, 127, 54);
colormap_.col ( 37) = Color (244, 130, 56);
colormap_.col ( 38) = Color (245, 133, 58);
colormap_.col ( 39) = Color (246, 135, 60);
colormap_.col ( 40) = Color (248, 138, 62);
colormap_.col ( 41) = Color (249, 140, 64);
colormap_.col ( 42) = Color (250, 143, 66);
colormap_.col ( 43) = Color (252, 145, 68);
colormap_.col ( 44) = Color (253, 148, 70);
colormap_.col ( 45) = Color (254, 150, 73);
colormap_.col ( 46) = Color (255, 153, 75);
colormap_.col ( 47) = Color (255, 154, 76);
colormap_.col ( 48) = Color (255, 156, 78);
colormap_.col ( 49) = Color (255, 158, 80);
colormap_.col ( 50) = Color (255, 159, 82);
colormap_.col ( 51) = Color (255, 161, 84);
colormap_.col ( 52) = Color (255, 163, 86);
colormap_.col ( 53) = Color (255, 164, 88);
colormap_.col ( 54) = Color (255, 166, 90);
colormap_.col ( 55) = Color (255, 168, 92);
colormap_.col ( 56) = Color (255, 169, 93);
colormap_.col ( 57) = Color (255, 171, 95);
colormap_.col ( 58) = Color (255, 172, 97);
colormap_.col ( 59) = Color (255, 174, 99);
colormap_.col ( 60) = Color (255, 176, 101);
colormap_.col ( 61) = Color (255, 177, 103);
colormap_.col ( 62) = Color (255, 179, 105);
colormap_.col ( 63) = Color (255, 180, 107);
colormap_.col ( 64) = Color (255, 182, 109);
colormap_.col ( 65) = Color (255, 183, 111);
colormap_.col ( 66) = Color (255, 185, 113);
colormap_.col ( 67) = Color (255, 186, 115);
colormap_.col ( 68) = Color (255, 188, 117);
colormap_.col ( 69) = Color (255, 189, 119);
colormap_.col ( 70) = Color (255, 191, 122);
colormap_.col ( 71) = Color (255, 192, 124);
colormap_.col ( 72) = Color (255, 194, 126);
colormap_.col ( 73) = Color (255, 195, 128);
colormap_.col ( 74) = Color (255, 196, 130);
colormap_.col ( 75) = Color (255, 198, 132);
colormap_.col ( 76) = Color (255, 199, 134);
colormap_.col ( 77) = Color (255, 201, 136);
colormap_.col ( 78) = Color (255, 202, 139);
colormap_.col ( 79) = Color (255, 203, 141);
colormap_.col ( 80) = Color (255, 205, 143);
colormap_.col ( 81) = Color (255, 206, 145);
colormap_.col ( 82) = Color (255, 207, 147);
colormap_.col ( 83) = Color (255, 209, 149);
colormap_.col ( 84) = Color (255, 210, 152);
colormap_.col ( 85) = Color (255, 211, 154);
colormap_.col ( 86) = Color (255, 213, 156);
colormap_.col ( 87) = Color (255, 214, 158);
colormap_.col ( 88) = Color (255, 215, 161);
colormap_.col ( 89) = Color (255, 216, 163);
colormap_.col ( 90) = Color (255, 218, 165);
colormap_.col ( 91) = Color (255, 219, 168);
colormap_.col ( 92) = Color (255, 220, 170);
colormap_.col ( 93) = Color (255, 221, 172);
colormap_.col ( 94) = Color (255, 223, 175);
colormap_.col ( 95) = Color (255, 224, 177);
colormap_.col ( 96) = Color (255, 225, 179);
colormap_.col ( 97) = Color (255, 226, 182);
colormap_.col ( 98) = Color (255, 227, 184);
colormap_.col ( 99) = Color (255, 228, 186);
colormap_.col (100) = Color (255, 230, 189);
colormap_.col (101) = Color (255, 231, 191);
colormap_.col (102) = Color (255, 232, 193);
colormap_.col (103) = Color (255, 233, 196);
colormap_.col (104) = Color (255, 234, 198);
colormap_.col (105) = Color (255, 235, 201);
colormap_.col (106) = Color (255, 236, 203);
colormap_.col (107) = Color (255, 237, 205);
colormap_.col (108) = Color (255, 238, 208);
colormap_.col (109) = Color (255, 239, 210);
colormap_.col (110) = Color (255, 240, 213);
colormap_.col (111) = Color (255, 241, 215);
colormap_.col (112) = Color (255, 242, 218);
colormap_.col (113) = Color (255, 243, 220);
colormap_.col (114) = Color (255, 244, 222);
colormap_.col (115) = Color (255, 245, 225);
colormap_.col (116) = Color (255, 246, 227);
colormap_.col (117) = Color (255, 247, 230);
colormap_.col (118) = Color (255, 248, 232);
colormap_.col (119) = Color (255, 249, 235);
colormap_.col (120) = Color (255, 249, 237);
colormap_.col (121) = Color (255, 250, 239);
colormap_.col (122) = Color (255, 251, 242);
colormap_.col (123) = Color (255, 252, 244);
colormap_.col (124) = Color (255, 253, 247);
colormap_.col (125) = Color (255, 253, 249);
colormap_.col (126) = Color (255, 254, 251);
colormap_.col (127) = Color (255, 255, 254);
colormap_.col (128) = Color (255, 255, 254);
colormap_.col (129) = Color (254, 255, 253);
colormap_.col (130) = Color (253, 255, 252);
colormap_.col (131) = Color (252, 255, 250);
colormap_.col (132) = Color (251, 255, 249);
colormap_.col (133) = Color (250, 255, 248);
colormap_.col (134) = Color (249, 255, 246);
colormap_.col (135) = Color (248, 255, 245);
colormap_.col (136) = Color (247, 255, 244);
colormap_.col (137) = Color (246, 255, 242);
colormap_.col (138) = Color (245, 255, 241);
colormap_.col (139) = Color (244, 255, 240);
colormap_.col (140) = Color (243, 255, 238);
colormap_.col (141) = Color (242, 255, 237);
colormap_.col (142) = Color (241, 255, 236);
colormap_.col (143) = Color (240, 255, 235);
colormap_.col (144) = Color (239, 255, 233);
colormap_.col (145) = Color (238, 255, 232);
colormap_.col (146) = Color (237, 255, 231);
colormap_.col (147) = Color (236, 255, 229);
colormap_.col (148) = Color (235, 255, 228);
colormap_.col (149) = Color (234, 255, 227);
colormap_.col (150) = Color (234, 255, 225);
colormap_.col (151) = Color (233, 255, 224);
colormap_.col (152) = Color (232, 255, 223);
colormap_.col (153) = Color (231, 255, 221);
colormap_.col (154) = Color (230, 255, 220);
colormap_.col (155) = Color (229, 255, 219);
colormap_.col (156) = Color (228, 255, 218);
colormap_.col (157) = Color (227, 255, 216);
colormap_.col (158) = Color (226, 255, 215);
colormap_.col (159) = Color (225, 255, 214);
colormap_.col (160) = Color (224, 255, 212);
colormap_.col (161) = Color (223, 255, 211);
colormap_.col (162) = Color (222, 255, 210);
colormap_.col (163) = Color (221, 255, 208);
colormap_.col (164) = Color (220, 255, 207);
colormap_.col (165) = Color (219, 255, 206);
colormap_.col (166) = Color (218, 255, 204);
colormap_.col (167) = Color (217, 255, 203);
colormap_.col (168) = Color (216, 255, 202);
colormap_.col (169) = Color (215, 255, 201);
colormap_.col (170) = Color (214, 255, 199);
colormap_.col (171) = Color (213, 255, 198);
colormap_.col (172) = Color (211, 255, 197);
colormap_.col (173) = Color (210, 255, 195);
colormap_.col (174) = Color (209, 255, 194);
colormap_.col (175) = Color (208, 255, 193);
colormap_.col (176) = Color (207, 255, 191);
colormap_.col (177) = Color (206, 255, 190);
colormap_.col (178) = Color (205, 255, 188);
colormap_.col (179) = Color (204, 255, 187);
colormap_.col (180) = Color (203, 255, 186);
colormap_.col (181) = Color (202, 255, 184);
colormap_.col (182) = Color (201, 255, 183);
colormap_.col (183) = Color (199, 255, 182);
colormap_.col (184) = Color (198, 255, 180);
colormap_.col (185) = Color (197, 255, 179);
colormap_.col (186) = Color (196, 255, 177);
colormap_.col (187) = Color (195, 255, 176);
colormap_.col (188) = Color (194, 255, 174);
colormap_.col (189) = Color (192, 255, 173);
colormap_.col (190) = Color (191, 255, 172);
colormap_.col (191) = Color (190, 255, 170);
colormap_.col (192) = Color (189, 255, 169);
colormap_.col (193) = Color (188, 255, 167);
colormap_.col (194) = Color (186, 255, 166);
colormap_.col (195) = Color (185, 255, 164);
colormap_.col (196) = Color (184, 255, 163);
colormap_.col (197) = Color (183, 255, 161);
colormap_.col (198) = Color (181, 255, 160);
colormap_.col (199) = Color (180, 255, 158);
colormap_.col (200) = Color (179, 255, 157);
colormap_.col (201) = Color (177, 255, 155);
colormap_.col (202) = Color (176, 255, 154);
colormap_.col (203) = Color (175, 255, 152);
colormap_.col (204) = Color (173, 255, 150);
colormap_.col (205) = Color (172, 255, 149);
colormap_.col (206) = Color (170, 255, 147);
colormap_.col (207) = Color (169, 255, 145);
colormap_.col (208) = Color (166, 253, 143);
colormap_.col (209) = Color (164, 252, 141);
colormap_.col (210) = Color (162, 251, 138);
colormap_.col (211) = Color (159, 250, 136);
colormap_.col (212) = Color (157, 248, 134);
colormap_.col (213) = Color (155, 247, 131);
colormap_.col (214) = Color (152, 246, 129);
colormap_.col (215) = Color (150, 245, 127);
colormap_.col (216) = Color (148, 243, 124);
colormap_.col (217) = Color (145, 242, 122);
colormap_.col (218) = Color (143, 240, 119);
colormap_.col (219) = Color (140, 239, 117);
colormap_.col (220) = Color (138, 238, 114);
colormap_.col (221) = Color (135, 236, 112);
colormap_.col (222) = Color (133, 235, 110);
colormap_.col (223) = Color (130, 233, 107);
colormap_.col (224) = Color (128, 232, 105);
colormap_.col (225) = Color (125, 230, 102);
colormap_.col (226) = Color (122, 229, 100);
colormap_.col (227) = Color (120, 227, 97);
colormap_.col (228) = Color (117, 226, 94);
colormap_.col (229) = Color (114, 224, 92);
colormap_.col (230) = Color (111, 223, 89);
colormap_.col (231) = Color (109, 221, 87);
colormap_.col (232) = Color (106, 220, 84);
colormap_.col (233) = Color (103, 218, 82);
colormap_.col (234) = Color (100, 217, 79);
colormap_.col (235) = Color ( 97, 215, 76);
colormap_.col (236) = Color ( 94, 213, 73);
colormap_.col (237) = Color ( 91, 212, 71);
colormap_.col (238) = Color ( 88, 210, 68);
colormap_.col (239) = Color ( 85, 208, 65);
colormap_.col (240) = Color ( 82, 207, 62);
colormap_.col (241) = Color ( 78, 205, 59);
colormap_.col (242) = Color ( 75, 203, 57);
colormap_.col (243) = Color ( 71, 201, 54);
colormap_.col (244) = Color ( 68, 200, 50);
colormap_.col (245) = Color ( 64, 198, 47);
colormap_.col (246) = Color ( 60, 196, 44);
colormap_.col (247) = Color ( 56, 195, 41);
colormap_.col (248) = Color ( 52, 193, 37);
colormap_.col (249) = Color ( 47, 191, 33);
colormap_.col (250) = Color ( 42, 189, 29);
colormap_.col (251) = Color ( 37, 187, 25);
colormap_.col (252) = Color ( 31, 186, 20);
colormap_.col (253) = Color ( 24, 184, 15);
colormap_.col (254) = Color ( 14, 182, 7);
colormap_.col (255) = Color ( 0, 180, 0);
}
////////////////////////////////////////////////////////////////////////////////
pcl::ihs::OpenGLViewer::~OpenGLViewer ()
{
this->stopTimer ();
}
////////////////////////////////////////////////////////////////////////////////
bool
pcl::ihs::OpenGLViewer::addMesh (const MeshConstPtr& mesh, const std::string& id, const Eigen::Isometry3d& T)
{
if (!mesh)
{
std::cerr << "ERROR in opengl_viewer.cpp: Input mesh is not valid.\n";
return (false);
}
boost::mutex::scoped_lock lock (mutex_vis_);
if (this->getMeshIsAdded (id))
drawn_meshes_ [id] = FaceVertexMeshPtr (new FaceVertexMesh (*mesh, T));
else
drawn_meshes_.insert (std::make_pair (id, FaceVertexMeshPtr (new FaceVertexMesh (*mesh, T))));
return (true);
}
////////////////////////////////////////////////////////////////////////////////
bool
pcl::ihs::OpenGLViewer::addMesh (const CloudXYZRGBNormalConstPtr& cloud, const std::string& id, const Eigen::Isometry3d& T)
{
if (!cloud)
{
std::cerr << "ERROR in opengl_viewer.cpp: Input cloud is not valid.\n";
return (false);
}
if (!cloud->isOrganized ())
{
std::cerr << "ERROR in opengl_viewer.cpp: Input cloud is not organized.\n";
return (false);
}
// Convert the cloud to a mesh using the following pattern
// 2 - 1 //
// | / | //
// 3 - 0 //
const int w = cloud->width;
const int h = cloud->height;
const int offset_1 = -w;
const int offset_2 = -w - 1;
const int offset_3 = - 1;
FaceVertexMeshPtr mesh (new FaceVertexMesh ());
mesh->transformation = T;
std::vector <int> indices (w * h, -1); // Map the original indices to the vertex indices.
CloudIHS& vertices = mesh->vertices;
std::vector <FaceVertexMesh::Triangle>& triangles = mesh->triangles;
vertices.reserve (cloud->size ());
triangles.reserve (2 * (w-1) * (h-1));
// Helper functor
struct AddVertex
{
inline int operator () (const PointXYZRGBNormal& pt, CloudIHS& vertices, int& ind_o) const
{
if (ind_o == -1)
{
ind_o = vertices.size ();
vertices.push_back (PointIHS (pt, -pt.normal_z));
std::swap (vertices.back ().r, vertices.back ().b);
}
return (ind_o);
}
};
AddVertex addVertex;
int ind_o_0, ind_o_1, ind_o_2, ind_o_3; // Index into the organized cloud.
int ind_v_0, ind_v_1, ind_v_2, ind_v_3; // Index to the new vertices.
for (int r=1; r<h; ++r)
{
for (int c=1; c<w; ++c)
{
ind_o_0 = r*w + c;
ind_o_1 = ind_o_0 + offset_1;
ind_o_2 = ind_o_0 + offset_2;
ind_o_3 = ind_o_0 + offset_3;
const PointXYZRGBNormal& pt_0 = cloud->operator [] (ind_o_0);
const PointXYZRGBNormal& pt_1 = cloud->operator [] (ind_o_1);
const PointXYZRGBNormal& pt_2 = cloud->operator [] (ind_o_2);
const PointXYZRGBNormal& pt_3 = cloud->operator [] (ind_o_3);
if (!boost::math::isnan (pt_1.x) && !boost::math::isnan (pt_3.x))
{
if (!boost::math::isnan (pt_2.x)) // 1-2-3 is valid
{
if (std::abs (pt_1.z - pt_2.z) < 1 &&
std::abs (pt_1.z - pt_3.z) < 1 &&
std::abs (pt_2.z - pt_3.z) < 1) // distance threshold
{
ind_v_1 = addVertex (pt_1, vertices, indices [ind_o_1]);
ind_v_2 = addVertex (pt_2, vertices, indices [ind_o_2]);
ind_v_3 = addVertex (pt_3, vertices, indices [ind_o_3]);
triangles.push_back (FaceVertexMesh::Triangle (ind_v_1, ind_v_2, ind_v_3));
}
}
if (!boost::math::isnan (pt_0.x)) // 0-1-3 is valid
{
if (std::abs (pt_0.z - pt_1.z) < 1 &&
std::abs (pt_0.z - pt_3.z) < 1 &&
std::abs (pt_1.z - pt_3.z) < 1) // distance threshold
{
ind_v_1 = addVertex (pt_1, vertices, indices [ind_o_1]);
ind_v_3 = addVertex (pt_3, vertices, indices [ind_o_3]);
ind_v_0 = addVertex (pt_0, vertices, indices [ind_o_0]);
triangles.push_back (FaceVertexMesh::Triangle (ind_v_1, ind_v_3, ind_v_0));
}
}
}
}
}
// Finally add the mesh.
boost::mutex::scoped_lock lock (mutex_vis_);
if (this->getMeshIsAdded (id))
drawn_meshes_ [id] = mesh;
else
drawn_meshes_.insert (std::make_pair (id, mesh));
return (true);
}
////////////////////////////////////////////////////////////////////////////////
bool
pcl::ihs::OpenGLViewer::removeMesh (const std::string& id)
{
boost::mutex::scoped_lock lock (mutex_vis_);
if (!this->getMeshIsAdded (id)) return (false);
drawn_meshes_.erase (id);
return (true);
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::removeAllMeshes ()
{
boost::mutex::scoped_lock lock (mutex_vis_);
drawn_meshes_.clear ();
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setBoxCoefficients (const BoxCoefficients& coeffs)
{
boost::mutex::scoped_lock lock (mutex_vis_);
box_coefficients_ = coeffs;
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setDrawBox (const bool enabled)
{
boost::mutex::scoped_lock lock (mutex_vis_);
draw_box_ = enabled;
}
////////////////////////////////////////////////////////////////////////////////
bool
pcl::ihs::OpenGLViewer::getDrawBox () const
{
return (draw_box_);
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setPivot (const Eigen::Vector3d& pivot)
{
boost::mutex::scoped_lock lock (mutex_vis_);
cam_pivot_ = pivot;
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setPivot (const std::string& id)
{
boost::mutex::scoped_lock lock (mutex_vis_);
cam_pivot_id_ = id;
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::stopTimer ()
{
boost::mutex::scoped_lock lock (mutex_vis_);
if (timer_vis_)
{
timer_vis_->stop ();
}
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setVisibilityConfidenceNormalization (const float vis_conf_norm)
{
boost::mutex::scoped_lock lock (mutex_vis_);
vis_conf_norm_ = vis_conf_norm < 1 ? 1 : vis_conf_norm;
}
////////////////////////////////////////////////////////////////////////////////
QSize
pcl::ihs::OpenGLViewer::minimumSizeHint () const
{
return (QSize (160, 120));
}
////////////////////////////////////////////////////////////////////////////////
QSize
pcl::ihs::OpenGLViewer::sizeHint () const
{
return (QSize (640, 480));
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setScalingFactor (const double scale)
{
boost::mutex::scoped_lock lock (mutex_vis_);
scaling_factor_ = scale;
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::timerCallback ()
{
QWidget::update ();
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::resetCamera ()
{
boost::mutex::scoped_lock lock (mutex_vis_);
R_cam_ = Eigen::Quaterniond (1., 0., 0., 0.);
t_cam_ = Eigen::Vector3d (0., 0., 0.);
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::toggleMeshRepresentation ()
{
switch (mesh_representation_)
{
case MR_POINTS: this->setMeshRepresentation (MR_EDGES); break;
case MR_EDGES: this->setMeshRepresentation (MR_FACES); break;
case MR_FACES: this->setMeshRepresentation (MR_POINTS); break;
default: std::cerr << "ERROR in opengl_viewer.cpp: Unknown mesh representation\n"; exit (EXIT_FAILURE);
}
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setMeshRepresentation (const MeshRepresentation& representation)
{
boost::mutex::scoped_lock lock (mutex_vis_);
switch (mesh_representation_)
{
case MR_POINTS: std::cerr << "Drawing the points.\n"; break;
case MR_EDGES: std::cerr << "Drawing the edges.\n"; break;
case MR_FACES: std::cerr << "Drawing the faces.\n"; break;
default: std::cerr << "ERROR in opengl_viewer.cpp: Unknown mesh representation\n"; exit (EXIT_FAILURE);
}
mesh_representation_ = representation;
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::toggleColoring ()
{
switch (coloring_)
{
case COL_RGB: this->setColoring (COL_ONE_COLOR); break;
case COL_ONE_COLOR: this->setColoring (COL_VISCONF); break;
case COL_VISCONF: this->setColoring (COL_RGB); break;
default: std::cerr << "ERROR in opengl_viewer.cpp: Unknown coloring\n"; exit (EXIT_FAILURE);
}
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::setColoring (const Coloring& coloring)
{
boost::mutex::scoped_lock lock (mutex_vis_);
switch (coloring)
{
case COL_RGB: std::cerr << "Coloring according to the rgb values.\n"; break;
case COL_ONE_COLOR: std::cerr << "Use one color for all points.\n"; break;
case COL_VISCONF: std::cerr << "Coloring according to the visibility confidence.\n"; break;
default: std::cerr << "ERROR in opengl_viewer.cpp: Unknown coloring\n"; exit (EXIT_FAILURE);
}
coloring_ = coloring;
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::paintEvent (QPaintEvent* /*event*/)
{
this->calcPivot ();
this->makeCurrent ();
// Clear information from the last draw
glClearColor (0.f, 0.f, 0.f, 0.f);
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
this->setupViewport (this->width (), this->height ());
// Move light with camera (see example 5-7)
// http://www.glprogramming.com/red/chapter05.html
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// light 0 (directional)
glLightfv (GL_LIGHT0, GL_AMBIENT , Eigen::Vector4f (0.1f, 0.1f, 0.1f, 1.0f).eval ().data ());
glLightfv (GL_LIGHT0, GL_DIFFUSE , Eigen::Vector4f (0.6f, 0.6f, 0.6f, 1.0f).eval ().data () );
glLightfv (GL_LIGHT0, GL_SPECULAR, Eigen::Vector4f (0.2f, 0.2f, 0.2f, 1.0f).eval ().data ());
glLightfv (GL_LIGHT0, GL_POSITION, Eigen::Vector4f (0.3f, 0.5f, 0.8f, 0.0f).normalized ().eval ().data ());
// light 1 (directional)
glLightfv (GL_LIGHT1, GL_AMBIENT , Eigen::Vector4f ( 0.0f, 0.0f, 0.0f, 1.0f).eval ().data ());
glLightfv (GL_LIGHT1, GL_DIFFUSE , Eigen::Vector4f ( 0.3f, 0.3f, 0.3f, 1.0f).eval ().data () );
glLightfv (GL_LIGHT1, GL_SPECULAR, Eigen::Vector4f ( 0.1f, 0.1f, 0.1f, 1.0f).eval ().data ());
glLightfv (GL_LIGHT1, GL_POSITION, Eigen::Vector4f (-0.3f, 0.5f, 0.8f, 0.0f).normalized ().eval ().data ());
// Material
glColorMaterial (GL_FRONT, GL_AMBIENT_AND_DIFFUSE);
glMaterialfv (GL_FRONT, GL_SPECULAR , Eigen::Vector4f (0.1f, 0.1f, 0.1f, 1.0f).eval ().data ());
glMaterialf (GL_FRONT, GL_SHININESS, 25.f);
glEnable (GL_DEPTH_TEST);
glEnable (GL_NORMALIZE);
glEnable (GL_COLOR_MATERIAL);
glEnable (GL_LIGHTING);
glEnable (GL_LIGHT0);
glEnable (GL_LIGHT1);
// Projection matrix
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
gluPerspective (43., 4./3., 0.01 / scaling_factor_, 10. / scaling_factor_);
glMatrixMode (GL_MODELVIEW);
// ModelView matrix
Eigen::Quaterniond R_cam;
Eigen::Vector3d t_cam;
{
boost::mutex::scoped_lock lock (mutex_vis_);
R_cam = R_cam_;
t_cam = t_cam_;
}
const Eigen::Vector3d o = Eigen::Vector3d::Zero ();
const Eigen::Vector3d ey = Eigen::Vector3d::UnitY ();
const Eigen::Vector3d ez = Eigen::Vector3d::UnitZ ();
const Eigen::Vector3d eye = R_cam * o + t_cam;
const Eigen::Vector3d center = R_cam * ez + t_cam;
const Eigen::Vector3d up = (R_cam * -ey).normalized ();
glMatrixMode (GL_MODELVIEW);
gluLookAt (eye. x (), eye. y (), eye. z (),
center.x (), center.y (), center.z (),
up. x (), up. y (), up. z ());
// Draw everything
this->drawMeshes ();
glDisable (GL_LIGHTING); // This is needed so the color is right.
this->drawBox ();
}
////////////////////////////////////////////////////////////////////////////////
bool
pcl::ihs::OpenGLViewer::getMeshIsAdded (const std::string& id)
{
// boost::mutex::scoped_lock lock (mutex_vis_);
return (drawn_meshes_.find (id) != drawn_meshes_.end ());
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::calcPivot ()
{
boost::mutex::scoped_lock lock (mutex_vis_);
if (this->getMeshIsAdded (cam_pivot_id_))
{
Eigen::Vector4f pivot;
const FaceVertexMeshConstPtr mesh = drawn_meshes_ [cam_pivot_id_];
if (pcl::compute3DCentroid (mesh->vertices, pivot))
{
const Eigen::Vector3d p = mesh->transformation * pivot.head <3> ().cast <double> ();
lock.unlock ();
this->setPivot (p);
}
}
cam_pivot_id_.clear ();
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::drawMeshes ()
{
boost::mutex::scoped_lock lock (mutex_vis_);
glEnableClientState (GL_VERTEX_ARRAY);
glEnableClientState (GL_NORMAL_ARRAY);
switch (coloring_)
{
case COL_RGB: glEnableClientState (GL_COLOR_ARRAY); break;
case COL_ONE_COLOR: glDisableClientState (GL_COLOR_ARRAY); break;
case COL_VISCONF: glEnableClientState (GL_COLOR_ARRAY); break;
default: std::cerr << "ERROR in opengl_viewer.cpp: Unknown coloring\n"; exit (EXIT_FAILURE);
}
switch (mesh_representation_)
{
case MR_POINTS: break;
case MR_EDGES: glPolygonMode (GL_FRONT_AND_BACK, GL_LINE); break;
case MR_FACES: glPolygonMode (GL_FRONT_AND_BACK, GL_FILL); break;
default: std::cerr << "ERROR in opengl_viewer.cpp: Unknown mesh representation\n"; exit (EXIT_FAILURE);
}
for (FaceVertexMeshMap::const_iterator it=drawn_meshes_.begin (); it!=drawn_meshes_.end (); ++it)
{
if (it->second && !it->second->vertices.empty ())
{
const FaceVertexMesh& mesh = *it->second;
glVertexPointer (3, GL_FLOAT, sizeof (PointIHS), &(mesh.vertices [0].x ));
glNormalPointer ( GL_FLOAT, sizeof (PointIHS), &(mesh.vertices [0].normal_x));
Colors colors (3, mesh.vertices.size ());
switch (coloring_)
{
case COL_RGB:
{
glColorPointer (3, GL_UNSIGNED_BYTE, sizeof (PointIHS), &(mesh.vertices [0].b));
break;
}
case COL_ONE_COLOR:
{
glColor3f (.7f, .7f, .7f);
break;
}
case COL_VISCONF:
{
for (unsigned int i=0; i<mesh.vertices.size (); ++i)
{
const unsigned int n = pcl::ihs::countDirections (mesh.vertices [i].directions);
const unsigned int index = static_cast <unsigned int> (
static_cast <float> (colormap_.cols ()) *
static_cast <float> (n) / vis_conf_norm_);
colors.col (i) = colormap_.col (index < 256 ? index : 255);
}
glColorPointer (3, GL_UNSIGNED_BYTE, 0, colors.data ());
}
}
glPushMatrix ();
{
glMultMatrixd (mesh.transformation.matrix ().data ());
switch (mesh_representation_)
{
case MR_POINTS:
{
glDrawArrays (GL_POINTS, 0, mesh.vertices.size ());
break;
}
case MR_EDGES: case MR_FACES:
{
glDrawElements (GL_TRIANGLES, 3*mesh.triangles.size (), GL_UNSIGNED_INT, &mesh.triangles [0]);
break;
}
}
}
glPopMatrix ();
}
}
glDisableClientState (GL_VERTEX_ARRAY);
glDisableClientState (GL_NORMAL_ARRAY);
glDisableClientState (GL_COLOR_ARRAY);
glPolygonMode (GL_FRONT_AND_BACK, GL_FILL);
}
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::OpenGLViewer::drawBox ()
{
BoxCoefficients coeffs;
{
boost::mutex::scoped_lock lock (mutex_vis_);
if (draw_box_) coeffs = box_coefficients_;
else return;
}
glColor3f (1.f, 1.f, 1.f);
glPushMatrix ();
{
glMultMatrixd (coeffs.transformation.matrix ().data ());
// Front
glBegin(GL_LINE_STRIP);
{
glVertex3f (coeffs.x_min, coeffs.y_min, coeffs.z_min);
glVertex3f (coeffs.x_max, coeffs.y_min, coeffs.z_min);
glVertex3f (coeffs.x_max, coeffs.y_max, coeffs.z_min);