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CloudViewer: added backface culling option on right-click menu. MainWindow: removed error msg on wrong decimation (util3d already handle this case)

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This commit is contained in:
matlabbe
2016-11-27 20:10:05 -05:00
parent 1910cef3d1
commit 3363772ce5
5 changed files with 37 additions and 66 deletions
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2
guilib/include/rtabmap/gui/CloudViewer.h
View File

@@ -316,6 +316,7 @@ private:
QAction * _aSetRenderingRate;
QAction * _aSetLighting;
QAction * _aSetEdgeVisibility;
QAction * _aBackfaceCulling;
QMenu * _menu;
std::set<std::string> _graphes;
std::set<std::string> _coordinates;
@@ -337,7 +338,6 @@ private:
QString _workingDirectory;
QColor _defaultBgColor;
QColor _currentBgColor;
bool _backfaceCulling;
bool _frontfaceCulling;
double _renderingRate;
vtkProp * _octomapActor;

72
guilib/src/CloudViewer.cpp
View File

@@ -128,6 +128,7 @@ CloudViewer::CloudViewer(QWidget *parent) :
_aSetRenderingRate(0),
_aSetLighting(0),
_aSetEdgeVisibility(0),
_aBackfaceCulling(0),
_menu(0),
_trajectory(new pcl::PointCloud<pcl::PointXYZ>),
_maxTrajectorySize(100),
@@ -140,7 +141,6 @@ CloudViewer::CloudViewer(QWidget *parent) :
_workingDirectory("."),
_defaultBgColor(Qt::black),
_currentBgColor(Qt::black),
_backfaceCulling(false),
_frontfaceCulling(false),
_renderingRate(5.0),
_octomapActor(0)
@@ -241,6 +241,9 @@ void CloudViewer::createMenu()
_aSetEdgeVisibility = new QAction("Show edges", this);
_aSetEdgeVisibility->setCheckable(true);
_aSetEdgeVisibility->setChecked(false);
_aBackfaceCulling = new QAction("Backface culling", this);
_aBackfaceCulling->setCheckable(true);
_aBackfaceCulling->setChecked(true);
QMenu * cameraMenu = new QMenu("Camera", this);
cameraMenu->addAction(_aLockCamera);
@@ -279,6 +282,7 @@ void CloudViewer::createMenu()
_menu->addAction(_aSetRenderingRate);
_menu->addAction(_aSetLighting);
_menu->addAction(_aSetEdgeVisibility);
_menu->addAction(_aBackfaceCulling);
}
void CloudViewer::saveSettings(QSettings & settings, const QString & group) const
@@ -542,14 +546,8 @@ bool CloudViewer::addCloudMesh(
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
if(_backfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
}
if(_frontfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
}
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
@@ -573,14 +571,8 @@ bool CloudViewer::addCloudMesh(
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
if(_backfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
}
if(_frontfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
}
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
@@ -604,14 +596,8 @@ bool CloudViewer::addCloudMesh(
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
if(_backfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
}
if(_frontfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
}
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
@@ -634,14 +620,8 @@ bool CloudViewer::addCloudMesh(
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
if(_backfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
}
if(_frontfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
}
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
@@ -665,14 +645,8 @@ bool CloudViewer::addCloudTextureMesh(
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
if(_backfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
}
if(_frontfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
}
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
if(!textureMesh->cloud.is_dense)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetTexture()->SetInterpolate(1);
@@ -1152,6 +1126,8 @@ bool CloudViewer::addTextureMesh (
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
return true;
}
@@ -1733,8 +1709,16 @@ Transform CloudViewer::getTargetPose() const
void CloudViewer::setBackfaceCulling(bool enabled, bool frontfaceCulling)
{
_backfaceCulling = enabled;
_aBackfaceCulling->setChecked(enabled);
_frontfaceCulling = frontfaceCulling;
pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
{
iter->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
iter->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
}
this->update();
}
void CloudViewer::setRenderingRate(double rate)
@@ -2507,6 +2491,10 @@ void CloudViewer::handleAction(QAction * a)
{
this->setEdgeVisibility(_aSetEdgeVisibility->isChecked());
}
else if(a == _aBackfaceCulling)
{
this->setBackfaceCulling(_aBackfaceCulling->isChecked(), _frontfaceCulling);
}
}
} /* namespace rtabmap */

11
guilib/src/MainWindow.cpp
View File

@@ -2518,17 +2518,6 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
pcl::IndicesPtr indices(new std::vector<int>);
UASSERT(nodeId == data.id());
if(image.cols % _preferencesDialog->getCloudDecimation(0) != 0 ||
image.rows % _preferencesDialog->getCloudDecimation(0) != 0)
{
UERROR("Decimation (%d) is not modulo of the image resolution (%dx%d)! The cloud cannot be "
"created. Go to Preferences->3D Rendering under \"Map\" column to modify this parameter.",
_preferencesDialog->getCloudDecimation(0),
image.cols,
image.rows);
return outputPair;
}
// Create organized cloud
cloud = util3d::cloudRGBFromSensorData(data,
_preferencesDialog->getCloudDecimation(0),