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CloudViewer: saving rendering options of the 3D view, re-apply current color index when moving through nodes.

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matlabbe
2025-07-10 16:55:57 -07:00
parent f06b7c8b3e
commit 9e0b184fdc
3 changed files with 71 additions and 2 deletions
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guilib/include/rtabmap/gui/CloudViewer.h
+3
View File
@@ -334,6 +334,9 @@ public:
bool getPose(const std::string & id, Transform & pose); //including meshes
bool getCloudVisibility(const std::string & id);
int getCloudColorIndex(const std::string & id) const;
double getCloudOpacity(const std::string & id) const;
int getCloudPointSize(const std::string & id) const;
const QMap<std::string, Transform> & getAddedClouds() const {return _addedClouds;} //including meshes
const QColor & getDefaultBackgroundColor() const;
guilib/src/CloudViewer.cpp
+32
View File
@@ -3172,6 +3172,12 @@ bool CloudViewer::getCloudVisibility(const std::string & id)
return false;
}
int CloudViewer::getCloudColorIndex(const std::string & id) const
{
return _visualizer->getColorHandlerIndex(id);
}
void CloudViewer::setCloudColorIndex(const std::string & id, int index)
{
if(index>0)
@@ -3180,6 +3186,26 @@ void CloudViewer::setCloudColorIndex(const std::string & id, int index)
}
}
double CloudViewer::getCloudOpacity(const std::string & id) const
{
double opacity = 1.0;
if(!_visualizer->getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, id))
{
#if VTK_MAJOR_VERSION >= 7
pcl::visualization::ShapeActorMap::iterator am_it = _visualizer->getShapeActorMap()->find (id);
if (am_it != _visualizer->getShapeActorMap()->end ())
{
vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
if(actor)
{
opacity = actor->GetProperty ()->GetOpacity ();
}
}
#endif
}
return opacity;
}
void CloudViewer::setCloudOpacity(const std::string & id, double opacity)
{
double lastOpacity;
@@ -3207,6 +3233,12 @@ void CloudViewer::setCloudOpacity(const std::string & id, double opacity)
#endif
}
int CloudViewer::getCloudPointSize(const std::string & id) const
{
double size = 1.0;
_visualizer->getPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, size, id);
return (int)size;
}
void CloudViewer::setCloudPointSize(const std::string & id, int size)
{
double lastSize;
guilib/src/DatabaseViewer.cpp
+36 -2
View File
@@ -445,6 +445,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->graphViewer, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->graphicsView_A, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(cloudViewer_, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
connect(ui_->actionConcise_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
@@ -653,6 +654,9 @@ void DatabaseViewer::readSettings()
ui_->graphicsView_A->loadSettings(settings, "ImageViewA");
ui_->graphicsView_B->loadSettings(settings, "ImageViewB");
// CloudViewer
cloudViewer_->loadSettings(settings, "CloudViewer");
// ICP parameters
settings.beginGroup("icp");
ui_->spinBox_icp_decimation->setValue(settings.value("decimation", ui_->spinBox_icp_decimation->value()).toInt());
@@ -747,6 +751,9 @@ void DatabaseViewer::writeSettings()
ui_->graphicsView_A->saveSettings(settings, "ImageViewA");
ui_->graphicsView_B->saveSettings(settings, "ImageViewB");
// CloudViewer
cloudViewer_->saveSettings(settings, "CloudViewer");
// save ICP parameters
settings.beginGroup("icp");
settings.setValue("decimation", ui_->spinBox_icp_decimation->value());
@@ -5138,6 +5145,15 @@ void DatabaseViewer::update(int value,
cloudViewer_->removeAllLines();
cloudViewer_->removeAllFrustums();
cloudViewer_->removeOccupancyGridMap();
std::map<std::string, std::pair<int, int> > colorIndexAndPointSizeMap;
for(auto iter=cloudViewer_->getAddedClouds().constBegin(); iter!=cloudViewer_->getAddedClouds().constEnd(); ++iter) {
if(uStrContains(iter.key(), "cloud") || uStrContains(iter.key(), "scan")) {
colorIndexAndPointSizeMap.insert(std::make_pair(iter.key(),
std::make_pair(
cloudViewer_->getCloudColorIndex(iter.key())+1,
cloudViewer_->getCloudPointSize(iter.key()))));
}
}
cloudViewer_->removeAllClouds();
cloudViewer_->removeOctomap();
cloudViewer_->removeElevationMap();
@@ -5195,6 +5211,10 @@ void DatabaseViewer::update(int value,
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
if(colorIndexAndPointSizeMap.find("scan") != colorIndexAndPointSizeMap.end()) {
cloudViewer_->setCloudColorIndex("scan", colorIndexAndPointSizeMap.at("scan").first);
cloudViewer_->setCloudPointSize("scan", colorIndexAndPointSizeMap.at("scan").second);
}
}
// add RGB-D cloud
@@ -5281,6 +5301,10 @@ void DatabaseViewer::update(int value,
}
cloudViewer_->addCloud("cloud", cloudValidPoints, pose);
if(colorIndexAndPointSizeMap.find("cloud") != colorIndexAndPointSizeMap.end()) {
cloudViewer_->setCloudColorIndex("cloud", colorIndexAndPointSizeMap.at("cloud").first);
cloudViewer_->setCloudPointSize("cloud", colorIndexAndPointSizeMap.at("cloud").second);
}
}
else
{
@@ -5404,7 +5428,12 @@ void DatabaseViewer::update(int value,
}
if(ui_->checkBox_showCloud->isChecked())
{
cloudViewer_->addCloud(uFormat("cloud_%d", i), cloud, pose);
std::string cloudName = uFormat("cloud_%d", i);
cloudViewer_->addCloud(cloudName, cloud, pose);
if(colorIndexAndPointSizeMap.find(cloudName) != colorIndexAndPointSizeMap.end()) {
cloudViewer_->setCloudColorIndex(cloudName, colorIndexAndPointSizeMap.at(cloudName).first);
cloudViewer_->setCloudPointSize(cloudName, colorIndexAndPointSizeMap.at(cloudName).second);
}
}
}
}
@@ -5434,7 +5463,12 @@ void DatabaseViewer::update(int value,
cloud = util3d::voxelize(cloud, indices, ui_->doubleSpinBox_voxelSize->value());
}
cloudViewer_->addCloud(uFormat("cloud_%d", i), cloud, pose);
std::string cloudName = uFormat("cloud_%d", i);
cloudViewer_->addCloud(cloudName, cloud, pose);
if(colorIndexAndPointSizeMap.find(cloudName) != colorIndexAndPointSizeMap.end()) {
cloudViewer_->setCloudColorIndex(cloudName, colorIndexAndPointSizeMap.at(cloudName).first);
cloudViewer_->setCloudPointSize(cloudName, colorIndexAndPointSizeMap.at(cloudName).second);
}
}
}
}