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CloudViewer: added point picker on doubleclick

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matlabbe
2017-01-30 19:51:06 -05:00
parent 0f96bf7709
commit 8e0e04eae9
2 changed files with 72 additions and 1 deletions
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1
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -49,6 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <set>
#include <pcl/visualization/mouse_event.h>
#include <pcl/visualization/point_picking_event.h>
#include <pcl/PCLPointCloud2.h>
namespace pcl {

72
guilib/src/CloudViewer.cpp
View File

@@ -59,6 +59,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <vtkPNGReader.h>
#include <vtkTIFFReader.h>
#include <vtkOpenGLRenderWindow.h>
#include <vtkPointPicker.h>
#include <opencv/vtkImageMatSource.h>
#ifdef RTABMAP_OCTOMAP
@@ -107,6 +108,69 @@ public:
//rwi->Render();
}
protected:
virtual void OnLeftButtonDown()
{
// http://www.vtk.org/Wiki/VTK/Examples/Cxx/Interaction/DoubleClick
// http://www.vtk.org/Wiki/VTK/Examples/Cxx/Interaction/PointPicker
this->NumberOfClicks++;
int pickPosition[2];
this->GetInteractor()->GetEventPosition(pickPosition);
int xdist = pickPosition[0] - this->PreviousPosition[0];
int ydist = pickPosition[1] - this->PreviousPosition[1];
this->PreviousPosition[0] = pickPosition[0];
this->PreviousPosition[1] = pickPosition[1];
int moveDistance = (int)sqrt((double)(xdist*xdist + ydist*ydist));
// Reset numClicks - If mouse moved further than resetPixelDistance
if(moveDistance > this->ResetPixelDistance)
{
this->NumberOfClicks = 1;
}
if(this->NumberOfClicks == 2)
{
this->NumberOfClicks = 0;
this->Interactor->GetPicker()->Pick(pickPosition[0], pickPosition[1],
0, // always zero.
this->Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer());
double picked[3];
this->Interactor->GetPicker()->GetPickPosition(picked);
UINFO("Double clicked! Picked value: %f %f %f", picked[0], picked[1], picked[2]);
vtkCamera *camera = this->CurrentRenderer->GetActiveCamera();
double position[3];
double focal[3];
camera->GetPosition(position[0], position[1], position[2]);
camera->GetFocalPoint(focal[0], focal[1], focal[2]);
camera->SetPosition (position[0] + (picked[0]-focal[0]), position[1] + (picked[1]-focal[1]), position[2] + (picked[2]-focal[2]));
camera->SetFocalPoint (picked[0], picked[1], picked[2]);
if (this->AutoAdjustCameraClippingRange)
{
this->CurrentRenderer->ResetCameraClippingRange();
}
if (this->Interactor->GetLightFollowCamera())
{
this->CurrentRenderer->UpdateLightsGeometryToFollowCamera();
}
}
// Forward events
PCLVisualizerInteractorStyle::OnLeftButtonDown();
}
private:
unsigned int NumberOfClicks;
int PreviousPosition[2];
int ResetPixelDistance;
};
@@ -153,7 +217,7 @@ CloudViewer::CloudViewer(QWidget *parent) :
argc,
0,
"PCLVisualizer",
vtkSmartPointer<MyInteractorStyle>(new MyInteractorStyle()),
vtkSmartPointer<MyInteractorStyle>(new MyInteractorStyle()),
false);
_visualizer->setShowFPS(false);
@@ -164,6 +228,12 @@ CloudViewer::CloudViewer(QWidget *parent) :
// the "Invalid drawable" warning when the view is not visible.
//_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
this->GetInteractor()->SetInteractorStyle (_visualizer->getInteractorStyle());
// setup a simple point picker
vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New ();
UDEBUG("pick tolerance=%f", pp->GetTolerance());
pp->SetTolerance (pp->GetTolerance()/2.0);
this->GetInteractor()->SetPicker (pp);
setRenderingRate(_renderingRate);
_visualizer->setCameraPosition(