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DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices.

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This commit is contained in:
matlabbe
2018-04-25 12:34:47 -04:00
parent f13e384a1b
commit b044bae304
11 changed files with 617 additions and 24 deletions
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70
guilib/src/CloudViewer.cpp
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@@ -82,6 +82,8 @@ class MyInteractorStyle: public pcl::visualization::PCLVisualizerInteractorStyle
public:
MyInteractorStyle(CloudViewer * viewer) :
pcl::visualization::PCLVisualizerInteractorStyle(),
NumberOfClicks(0),
ResetPixelDistance(0),
pointsHolder_(new pcl::PointCloud<pcl::PointXYZRGB>),
viewer_(viewer)
{
@@ -239,7 +241,7 @@ protected:
this->NumberOfClicks = 1;
}
if(this->NumberOfClicks == 2)
if(this->NumberOfClicks >= 2)
{
this->NumberOfClicks = 0;
this->Interactor->GetPicker()->Pick(pickPosition[0], pickPosition[1],
@@ -352,8 +354,6 @@ private:
unsigned int NumberOfClicks;
int PreviousPosition[2];
int ResetPixelDistance;
vtkSmartPointer<vtkTextActor> textActor_;
vtkSmartPointer<vtkLine> lineActor_;
float PreviousMeasure[3];
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointsHolder_;
CloudViewer * viewer_;
@@ -1727,6 +1727,68 @@ void CloudViewer::removeAllSpheres()
UASSERT(_spheres.empty());
}
void CloudViewer::addOrUpdateCube(
const std::string & id,
const Transform & pose,
float width,
float height,
float depth,
const QColor & color,
bool wireframe,
bool foreground)
{
if(id.empty())
{
UERROR("id should not be empty!");
return;
}
removeCube(id);
if(!pose.isNull())
{
_cubes.insert(id);
QColor c = Qt::gray;
if(color.isValid())
{
c = color;
}
_visualizer->addCube(Eigen::Vector3f(pose.x(), pose.y(), pose.z()), pose.getQuaternionf(), width, height, depth, id, foreground?2:1);
if(wireframe)
{
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, id);
}
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, c.redF(), c.greenF(), c.blueF(), id);
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, c.alphaF(), id);
}
}
void CloudViewer::removeCube(const std::string & id)
{
if(id.empty())
{
UERROR("id should not be empty!");
return;
}
if(_cubes.find(id) != _cubes.end())
{
_visualizer->removeShape(id);
_cubes.erase(id);
}
}
void CloudViewer::removeAllCubes()
{
std::set<std::string> cubes = _cubes;
for(std::set<std::string>::iterator iter = cubes.begin(); iter!=cubes.end(); ++iter)
{
this->removeCube(*iter);
}
UASSERT(_cubes.empty());
}
static const float frustum_vertices[] = {
0.0f, 0.0f, 0.0f,
1.0f, 1.0f, 1.0f,
@@ -2706,7 +2768,7 @@ void CloudViewer::setNormalsScale(float scale)
}
}
void CloudViewer::buildLocator(bool enable)
void CloudViewer::buildPickingLocator(bool enable)
{
_buildLocator = enable;
}