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Added bilateral filtering option. CloudViewer: lighting and edge visibility options.

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This commit is contained in:
matlabbe
2016-11-03 17:04:31 -04:00
parent 70dbac10c7
commit a7971373a6
14 changed files with 593 additions and 28 deletions
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73
guilib/src/CloudViewer.cpp
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@@ -127,6 +127,9 @@ CloudViewer::CloudViewer(QWidget *parent) :
_aSetGridCellCount(0),
_aSetGridCellSize(0),
_aSetBackgroundColor(0),
_aSetRenderingRate(0),
_aSetLighting(0),
_aSetEdgeVisibility(0),
_menu(0),
_trajectory(new pcl::PointCloud<pcl::PointXYZ>),
_maxTrajectorySize(100),
@@ -234,6 +237,12 @@ void CloudViewer::createMenu()
_aSetGridCellSize = new QAction("Set cell size...", this);
_aSetBackgroundColor = new QAction("Set background color...", this);
_aSetRenderingRate = new QAction("Set rendering rate...", this);
_aSetLighting = new QAction("Lighting", this);
_aSetLighting->setCheckable(true);
_aSetLighting->setChecked(false);
_aSetEdgeVisibility = new QAction("Show edges", this);
_aSetEdgeVisibility->setCheckable(true);
_aSetEdgeVisibility->setChecked(false);
QMenu * cameraMenu = new QMenu("Camera", this);
cameraMenu->addAction(_aLockCamera);
@@ -270,6 +279,8 @@ void CloudViewer::createMenu()
_menu->addMenu(gridMenu);
_menu->addAction(_aSetBackgroundColor);
_menu->addAction(_aSetRenderingRate);
_menu->addAction(_aSetLighting);
_menu->addAction(_aSetEdgeVisibility);
}
void CloudViewer::saveSettings(QSettings & settings, const QString & group) const
@@ -531,7 +542,8 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->LightingOff();
_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();
@@ -561,7 +573,8 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZRGB>(cloud, polygons, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->LightingOff();
_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();
@@ -591,7 +604,8 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZRGBNormal>(cloud, polygons, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->LightingOff();
_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();
@@ -620,7 +634,8 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d polygons", id.c_str(), (int)mesh->polygons.size());
if(_visualizer->addPolygonMesh(*mesh, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->LightingOff();
_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();
@@ -650,7 +665,8 @@ bool CloudViewer::addCloudTextureMesh(
UDEBUG("Adding %s", id.c_str());
if(this->addTextureMesh(*textureMesh, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->LightingOff();
_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();
@@ -671,7 +687,7 @@ bool CloudViewer::addCloudTextureMesh(
return false;
}
bool CloudViewer::addOctomap(const OctoMap * octomap, unsigned int treeDepth, bool showEdges, bool lightingOn)
bool CloudViewer::addOctomap(const OctoMap * octomap, unsigned int treeDepth)
{
UDEBUG("");
#ifdef RTABMAP_OCTOMAP
@@ -751,8 +767,8 @@ bool CloudViewer::addOctomap(const OctoMap * octomap, unsigned int treeDepth, bo
octomapActor->SetMapper(mapper);
octomapActor->GetProperty()->SetRepresentationToSurface();
octomapActor->GetProperty()->SetEdgeVisibility(showEdges);
octomapActor->GetProperty()->SetLighting(lightingOn);
octomapActor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
octomapActor->GetProperty()->SetLighting(_aSetLighting->isChecked());
renderer->AddActor(octomapActor);
_octomapActor = octomapActor.GetPointer();
@@ -905,7 +921,10 @@ bool CloudViewer::addTextureMesh (
int viewport)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
return _visualizer->addTextureMesh(mesh, id, viewport);
if(!_visualizer->addTextureMesh(mesh, id, viewport))
{
return false;
}
#else
// Copied from PCL 1.8
@@ -1141,8 +1160,11 @@ bool CloudViewer::addTextureMesh (
// Save the viewpoint transformation matrix to the global actor map
(*_visualizer->getCloudActorMap())[id].viewpoint_transformation_ = transformation;
return (true);
#endif
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
return true;
}
bool CloudViewer::addOccupancyGridMap(
@@ -1201,7 +1223,6 @@ bool CloudViewer::addOccupancyGridMap(
mesh->tex_coordinates.push_back(coordinates);
this->addTextureMesh(*mesh, "map");
_visualizer->getCloudActorMap()->find("map")->second.actor->GetProperty()->LightingOff();
setCloudOpacity("map", opacity);
//removed tmp texture file
@@ -1734,6 +1755,28 @@ void CloudViewer::setRenderingRate(double rate)
_visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(_renderingRate);
}
void CloudViewer::setLighting(bool on)
{
_aSetLighting->setChecked(on);
pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
{
iter->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
}
this->update();
}
void CloudViewer::setEdgeVisibility(bool visible)
{
_aSetEdgeVisibility->setChecked(visible);
pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
{
iter->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
}
this->update();
}
void CloudViewer::getCameraPosition(
float & x, float & y, float & z,
float & focalX, float & focalY, float & focalZ,
@@ -2468,6 +2511,14 @@ void CloudViewer::handleAction(QAction * a)
this->update();
}
}
else if(a == _aSetLighting)
{
this->setLighting(_aSetLighting->isChecked());
}
else if(a == _aSetEdgeVisibility)
{
this->setEdgeVisibility(_aSetEdgeVisibility->isChecked());
}
}
} /* namespace rtabmap */