mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
0.11.2: First Google Tango release
This commit is contained in:
matlabbe
@@ -113,7 +113,9 @@ CloudViewer::CloudViewer(QWidget *parent) :
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_lastCameraPose(0,0,0),
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_workingDirectory("."),
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_defaultBgColor(Qt::black),
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_currentBgColor(Qt::black)
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_currentBgColor(Qt::black),
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_backfaceCulling(false),
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_frontfaceCulling(false)
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{
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this->setMinimumSize(200, 200);
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@@ -317,138 +319,6 @@ bool CloudViewer::updateCloudPose(
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return false;
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}
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bool CloudViewer::updateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(_addedClouds.contains(id))
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{
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UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
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int index = _visualizer->getColorHandlerIndex(id);
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this->removeCloud(id);
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if(this->addCloud(id, cloud, pose, color))
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{
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_visualizer->updateColorHandlerIndex(id, index);
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return true;
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}
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}
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return false;
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}
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bool CloudViewer::updateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(_addedClouds.contains(id))
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{
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UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
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int index = _visualizer->getColorHandlerIndex(id);
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this->removeCloud(id);
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if(this->addCloud(id, cloud, pose, color))
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{
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_visualizer->updateColorHandlerIndex(id, index);
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return true;
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}
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}
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return false;
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}
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bool CloudViewer::updateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(_addedClouds.contains(id))
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{
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UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
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int index = _visualizer->getColorHandlerIndex(id);
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this->removeCloud(id);
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if(this->addCloud(id, cloud, pose, color))
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{
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_visualizer->updateColorHandlerIndex(id, index);
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return true;
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}
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}
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return false;
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}
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bool CloudViewer::updateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(_addedClouds.contains(id))
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{
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UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
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int index = _visualizer->getColorHandlerIndex(id);
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this->removeCloud(id);
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if(this->addCloud(id, cloud, pose, color))
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{
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_visualizer->updateColorHandlerIndex(id, index);
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return true;
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}
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}
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return false;
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}
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bool CloudViewer::addOrUpdateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(!updateCloud(id, cloud, pose, color))
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{
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return addCloud(id, cloud, pose, color);
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}
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return true;
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}
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bool CloudViewer::addOrUpdateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(!updateCloud(id, cloud, pose, color))
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{
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return addCloud(id, cloud, pose, color);
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}
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return true;
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}
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bool CloudViewer::addOrUpdateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(!updateCloud(id, cloud, pose, color))
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{
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return addCloud(id, cloud, pose, color);
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}
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return true;
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}
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bool CloudViewer::addOrUpdateCloud(
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const std::string & id,
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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const Transform & pose,
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const QColor & color)
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{
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if(!updateCloud(id, cloud, pose, color))
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{
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return addCloud(id, cloud, pose, color);
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}
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return true;
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}
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bool CloudViewer::addCloud(
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const std::string & id,
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const pcl::PCLPointCloud2Ptr & binaryCloud,
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@@ -457,62 +327,78 @@ bool CloudViewer::addCloud(
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bool haveNormals,
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const QColor & color)
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{
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if(!_addedClouds.contains(id))
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int previousColorIndex = -1;
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if(_addedClouds.contains(id))
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{
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Eigen::Vector4f origin(pose.x(), pose.y(), pose.z(), 0.0f);
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Eigen::Quaternionf orientation = Eigen::Quaternionf(pose.toEigen3f().rotation());
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previousColorIndex = _visualizer->getColorHandlerIndex(id);
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this->removeCloud(id);
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}
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// add random color channel
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pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::Ptr colorHandler;
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerRandom<pcl::PCLPointCloud2> (binaryCloud));
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if(_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id))
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Eigen::Vector4f origin(pose.x(), pose.y(), pose.z(), 0.0f);
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Eigen::Quaternionf orientation = Eigen::Quaternionf(pose.toEigen3f().rotation());
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// add random color channel
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pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::Ptr colorHandler;
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerRandom<pcl::PCLPointCloud2> (binaryCloud));
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if(_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id))
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{
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QColor c = Qt::gray;
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if(color.isValid())
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{
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QColor c = Qt::gray;
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if(color.isValid())
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{
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c = color;
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}
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (binaryCloud, c.red(), c.green(), c.blue()));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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// x,y,z
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "x"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "y"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "z"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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if(rgb)
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{
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//rgb
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colorHandler.reset(new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2>(binaryCloud));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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}
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if(haveNormals)
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{
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//normals
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_x"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_y"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_z"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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}
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if(rgb)
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{
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_visualizer->updateColorHandlerIndex(id, 5);
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}
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else if(color.isValid())
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{
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_visualizer->updateColorHandlerIndex(id, 1);
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}
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_addedClouds.insert(id, pose);
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return true;
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c = color;
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}
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (binaryCloud, c.red(), c.green(), c.blue()));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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// x,y,z
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "x"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "y"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "z"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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if(rgb)
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{
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//rgb
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colorHandler.reset(new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2>(binaryCloud));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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}
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else if(previousColorIndex == 5)
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{
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previousColorIndex = -1;
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}
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if(haveNormals)
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{
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//normals
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_x"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_y"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_z"));
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_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
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}
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else if(previousColorIndex > 5)
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{
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previousColorIndex = -1;
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}
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if(previousColorIndex>=0)
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{
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_visualizer->updateColorHandlerIndex(id, previousColorIndex);
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}
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else if(rgb)
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{
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_visualizer->updateColorHandlerIndex(id, 5);
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}
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else if(color.isValid())
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{
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_visualizer->updateColorHandlerIndex(id, 1);
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}
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_addedClouds.insert(id, pose);
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return true;
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}
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return false;
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}
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@@ -523,15 +409,9 @@ bool CloudViewer::addCloud(
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const Transform & pose,
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const QColor & color)
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{
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if(!_addedClouds.contains(id))
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{
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UDEBUG("Adding %s with %d points", id.c_str(), (int)cloud->size());
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, true, true, color);
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}
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return false;
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, true, true, color);
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}
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bool CloudViewer::addCloud(
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@@ -540,15 +420,9 @@ bool CloudViewer::addCloud(
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const Transform & pose,
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const QColor & color)
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{
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if(!_addedClouds.contains(id))
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{
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UDEBUG("Adding %s with %d points", id.c_str(), (int)cloud->size());
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, true, false, color);
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}
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return false;
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, true, false, color);
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}
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bool CloudViewer::addCloud(
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@@ -557,15 +431,9 @@ bool CloudViewer::addCloud(
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const Transform & pose,
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const QColor & color)
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{
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if(!_addedClouds.contains(id))
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{
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UDEBUG("Adding %s with %d points", id.c_str(), (int)cloud->size());
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, false, true, color);
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}
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return false;
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, false, true, color);
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}
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bool CloudViewer::addCloud(
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@@ -574,15 +442,9 @@ bool CloudViewer::addCloud(
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const Transform & pose,
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const QColor & color)
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{
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if(!_addedClouds.contains(id))
|
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{
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UDEBUG("Adding %s with %d points", id.c_str(), (int)cloud->size());
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, false, false, color);
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}
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return false;
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pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
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pcl::toPCLPointCloud2(*cloud, *binaryCloud);
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return addCloud(id, binaryCloud, pose, false, false, color);
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}
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bool CloudViewer::addCloudMesh(
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@@ -591,15 +453,26 @@ bool CloudViewer::addCloudMesh(
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const std::vector<pcl::Vertices> & polygons,
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const Transform & pose)
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{
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if(!_addedClouds.contains(id))
|
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if(_addedClouds.contains(id))
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{
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UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
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if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id))
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this->removeCloud(id);
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}
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UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
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if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id))
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{
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_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->LightingOff();
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if(_backfaceCulling)
|
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{
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_visualizer->updatePointCloudPose(id, pose.toEigen3f());
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_addedClouds.insert(id, pose);
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return true;
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_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
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}
|
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if(_frontfaceCulling)
|
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{
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_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
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}
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_visualizer->updatePointCloudPose(id, pose.toEigen3f());
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_addedClouds.insert(id, pose);
|
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return true;
|
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}
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return false;
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||||
}
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@@ -610,15 +483,56 @@ bool CloudViewer::addCloudMesh(
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||||
const std::vector<pcl::Vertices> & polygons,
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||||
const Transform & pose)
|
||||
{
|
||||
if(!_addedClouds.contains(id))
|
||||
if(_addedClouds.contains(id))
|
||||
{
|
||||
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
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||||
if(_visualizer->addPolygonMesh<pcl::PointXYZRGB>(cloud, polygons, id))
|
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this->removeCloud(id);
|
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}
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||||
|
||||
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();
|
||||
if(_backfaceCulling)
|
||||
{
|
||||
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
|
||||
_addedClouds.insert(id, pose);
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return true;
|
||||
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
|
||||
}
|
||||
if(_frontfaceCulling)
|
||||
{
|
||||
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
|
||||
}
|
||||
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
|
||||
_addedClouds.insert(id, pose);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool CloudViewer::addCloudMesh(
|
||||
const std::string & id,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
|
||||
const std::vector<pcl::Vertices> & polygons,
|
||||
const Transform & pose)
|
||||
{
|
||||
if(_addedClouds.contains(id))
|
||||
{
|
||||
this->removeCloud(id);
|
||||
}
|
||||
|
||||
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();
|
||||
if(_backfaceCulling)
|
||||
{
|
||||
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
|
||||
}
|
||||
if(_frontfaceCulling)
|
||||
{
|
||||
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
|
||||
}
|
||||
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
|
||||
_addedClouds.insert(id, pose);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
@@ -628,16 +542,28 @@ bool CloudViewer::addCloudMesh(
|
||||
const pcl::PolygonMesh::Ptr & mesh,
|
||||
const Transform & pose)
|
||||
{
|
||||
if(!_addedClouds.contains(id))
|
||||
if(_addedClouds.contains(id))
|
||||
{
|
||||
UDEBUG("Adding %s with %d polygons", id.c_str(), (int)mesh->polygons.size());
|
||||
if(_visualizer->addPolygonMesh(*mesh, id))
|
||||
{
|
||||
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
|
||||
_addedClouds.insert(id, pose);
|
||||
return true;
|
||||
}
|
||||
this->removeCloud(id);
|
||||
}
|
||||
|
||||
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();
|
||||
if(_backfaceCulling)
|
||||
{
|
||||
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
|
||||
}
|
||||
if(_frontfaceCulling)
|
||||
{
|
||||
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
|
||||
}
|
||||
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
|
||||
_addedClouds.insert(id, pose);
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -647,16 +573,19 @@ bool CloudViewer::addCloudTextureMesh(
|
||||
const Transform & pose)
|
||||
{
|
||||
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
|
||||
if(!_addedClouds.contains(id))
|
||||
if(_addedClouds.contains(id))
|
||||
{
|
||||
UDEBUG("Adding %s", id.c_str());
|
||||
if(_visualizer->addTextureMesh(*textureMesh, id))
|
||||
{
|
||||
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
|
||||
_addedClouds.insert(id, pose);
|
||||
return true;
|
||||
}
|
||||
this->removeCloud(id);
|
||||
}
|
||||
|
||||
UDEBUG("Adding %s", id.c_str());
|
||||
if(_visualizer->addTextureMesh(*textureMesh, id))
|
||||
{
|
||||
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
|
||||
_addedClouds.insert(id, pose);
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif
|
||||
// not implemented on lower version of PCL
|
||||
return false;
|
||||
@@ -826,7 +755,7 @@ void CloudViewer::addOrUpdateGraph(
|
||||
_visualizer->addPolylineFromPolygonMesh(mesh, id);
|
||||
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, color.redF(), color.greenF(), color.blueF(), id);
|
||||
|
||||
this->addOrUpdateCloud(id+"_nodes", graph, Transform::getIdentity(), color);
|
||||
this->addCloud(id+"_nodes", graph, Transform::getIdentity(), color);
|
||||
this->setCloudPointSize(id+"_nodes", 5);
|
||||
}
|
||||
}
|
||||
@@ -1002,6 +931,12 @@ Transform CloudViewer::getTargetPose() const
|
||||
return _lastPose;
|
||||
}
|
||||
|
||||
void CloudViewer::setBackfaceCulling(bool enabled, bool frontfaceCulling)
|
||||
{
|
||||
_backfaceCulling = enabled;
|
||||
_frontfaceCulling = frontfaceCulling;
|
||||
}
|
||||
|
||||
void CloudViewer::getCameraPosition(
|
||||
float & x, float & y, float & z,
|
||||
float & focalX, float & focalY, float & focalZ,
|
||||
@@ -1023,13 +958,7 @@ void CloudViewer::getCameraPosition(
|
||||
}
|
||||
else
|
||||
{
|
||||
_visualizer->setCameraPosition(
|
||||
-1, 0, 0,
|
||||
0, 0, 0,
|
||||
0, 0, 1);
|
||||
x=-1.0f;
|
||||
y=z=focalX=focalY=focalZ=upX=upY=0;
|
||||
upZ=1.0f;
|
||||
UERROR("No camera set!?");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1341,9 +1270,12 @@ void CloudViewer::addGrid()
|
||||
name = uFormat("line%d", ++id);
|
||||
_visualizer->addLine(pcl::PointXYZ(i, min, 0.0f), pcl::PointXYZ(i, max, 0.0f), r, g, b, name);
|
||||
_gridLines.push_back(name);
|
||||
//over y
|
||||
//over y or z
|
||||
name = uFormat("line%d", ++id);
|
||||
_visualizer->addLine(pcl::PointXYZ(min, i, 0.0f), pcl::PointXYZ(max, i, 0.0f), r, g, b, name);
|
||||
_visualizer->addLine(
|
||||
pcl::PointXYZ(min, i, 0),
|
||||
pcl::PointXYZ(max, i, 0),
|
||||
r, g, b, name);
|
||||
_gridLines.push_back(name);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user