468 lines
18 KiB
C++
468 lines
18 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009-2012, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_
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#define PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_
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#include <vtkVersion.h>
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#include <vtkContextActor.h>
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#include <vtkContextScene.h>
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#include <vtkImageData.h>
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#include <vtkImageFlip.h>
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#include <vtkPointData.h>
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#include <vtkImageViewer.h>
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#include <pcl/visualization/common/common.h>
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#include <pcl/search/organized.h>
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> void
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pcl::visualization::ImageViewer::convertRGBCloudToUChar (
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const pcl::PointCloud<T> &cloud,
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boost::shared_array<unsigned char> &data)
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{
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int j = 0;
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for (const auto& point: cloud)
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{
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data[j++] = point.r;
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data[j++] = point.g;
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data[j++] = point.b;
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> void
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pcl::visualization::ImageViewer::addRGBImage (const pcl::PointCloud<T> &cloud,
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const std::string &layer_id,
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double opacity)
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{
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if (data_size_ < cloud.width * cloud.height)
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{
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data_size_ = cloud.width * cloud.height * 3;
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data_.reset (new unsigned char[data_size_]);
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}
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convertRGBCloudToUChar (cloud, data_);
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return (addRGBImage (data_.get (), cloud.width, cloud.height, layer_id, opacity));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> void
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pcl::visualization::ImageViewer::showRGBImage (const pcl::PointCloud<T> &cloud,
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const std::string &layer_id,
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double opacity)
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{
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addRGBImage<T> (cloud, layer_id, opacity);
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render ();
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addMask (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const pcl::PointCloud<T> &mask,
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double r, double g, double b,
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const std::string &layer_id, double opacity)
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{
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// We assume that the data passed into image is organized, otherwise this doesn't make sense
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if (!image->isOrganized ())
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return (false);
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// Check to see if this ID entry already exists (has it been already added to the visualizer?)
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LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
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if (am_it == layer_map_.end ())
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{
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PCL_DEBUG ("[pcl::visualization::ImageViewer::addMask] No layer with ID'=%s' found. Creating new one...\n", layer_id.c_str ());
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am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
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}
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// Construct a search object to get the camera parameters
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pcl::search::OrganizedNeighbor<T> search;
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search.setInputCloud (image);
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std::vector<float> xy;
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xy.reserve (mask.size () * 2);
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for (std::size_t i = 0; i < mask.size (); ++i)
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{
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pcl::PointXY p_projected;
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search.projectPoint (mask[i], p_projected);
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xy.push_back (p_projected.x);
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xy.push_back (static_cast<float> (image->height) - p_projected.y);
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}
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vtkSmartPointer<context_items::Points> points = vtkSmartPointer<context_items::Points>::New ();
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points->setColors (static_cast<unsigned char> (r*255.0),
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static_cast<unsigned char> (g*255.0),
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static_cast<unsigned char> (b*255.0));
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points->setOpacity (opacity);
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points->set (xy);
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am_it->actor->GetScene ()->AddItem (points);
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return (true);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addMask (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const pcl::PointCloud<T> &mask,
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const std::string &layer_id, double opacity)
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{
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return (addMask (image, mask, 1.0, 0.0, 0.0, layer_id, opacity));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addPlanarPolygon (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const pcl::PlanarPolygon<T> &polygon,
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double r, double g, double b,
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const std::string &layer_id, double opacity)
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{
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// We assume that the data passed into image is organized, otherwise this doesn't make sense
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if (!image->isOrganized ())
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return (false);
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// Check to see if this ID entry already exists (has it been already added to the visualizer?)
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LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
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if (am_it == layer_map_.end ())
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{
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PCL_DEBUG ("[pcl::visualization::ImageViewer::addPlanarPolygon] No layer with ID'=%s' found. Creating new one...\n", layer_id.c_str ());
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am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
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}
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// Construct a search object to get the camera parameters and fill points
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pcl::search::OrganizedNeighbor<T> search;
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search.setInputCloud (image);
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std::vector<float> xy;
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xy.reserve ((polygon.getContour ().size () + 1) * 2);
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for (std::size_t i = 0; i < polygon.getContour ().size (); ++i)
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{
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pcl::PointXY p;
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search.projectPoint (polygon.getContour ()[i], p);
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xy.push_back (p.x);
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xy.push_back (p.y);
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}
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// Close the polygon
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xy[xy.size () - 2] = xy[0];
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xy[xy.size () - 1] = xy[1];
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vtkSmartPointer<context_items::Polygon> poly = vtkSmartPointer<context_items::Polygon>::New ();
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poly->setColors (static_cast<unsigned char> (r * 255.0),
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static_cast<unsigned char> (g * 255.0),
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static_cast<unsigned char> (b * 255.0));
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poly->setOpacity (opacity);
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poly->set (xy);
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am_it->actor->GetScene ()->AddItem (poly);
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return (true);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addPlanarPolygon (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const pcl::PlanarPolygon<T> &polygon,
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const std::string &layer_id, double opacity)
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{
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return (addPlanarPolygon (image, polygon, 1.0, 0.0, 0.0, layer_id, opacity));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addRectangle (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const T &min_pt,
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const T &max_pt,
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double r, double g, double b,
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const std::string &layer_id, double opacity)
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{
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// We assume that the data passed into image is organized, otherwise this doesn't make sense
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if (!image->isOrganized ())
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return (false);
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// Check to see if this ID entry already exists (has it been already added to the visualizer?)
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LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
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if (am_it == layer_map_.end ())
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{
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PCL_DEBUG ("[pcl::visualization::ImageViewer::addRectangle] No layer with ID'=%s' found. Creating new one...\n", layer_id.c_str ());
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am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
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}
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// Construct a search object to get the camera parameters
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pcl::search::OrganizedNeighbor<T> search;
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search.setInputCloud (image);
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// Project the 8 corners
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T p1, p2, p3, p4, p5, p6, p7, p8;
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p1.x = min_pt.x; p1.y = min_pt.y; p1.z = min_pt.z;
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p2.x = min_pt.x; p2.y = min_pt.y; p2.z = max_pt.z;
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p3.x = min_pt.x; p3.y = max_pt.y; p3.z = min_pt.z;
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p4.x = min_pt.x; p4.y = max_pt.y; p4.z = max_pt.z;
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p5.x = max_pt.x; p5.y = min_pt.y; p5.z = min_pt.z;
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p6.x = max_pt.x; p6.y = min_pt.y; p6.z = max_pt.z;
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p7.x = max_pt.x; p7.y = max_pt.y; p7.z = min_pt.z;
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p8.x = max_pt.x; p8.y = max_pt.y; p8.z = max_pt.z;
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std::vector<pcl::PointXY> pp_2d (8);
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search.projectPoint (p1, pp_2d[0]);
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search.projectPoint (p2, pp_2d[1]);
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search.projectPoint (p3, pp_2d[2]);
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search.projectPoint (p4, pp_2d[3]);
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search.projectPoint (p5, pp_2d[4]);
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search.projectPoint (p6, pp_2d[5]);
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search.projectPoint (p7, pp_2d[6]);
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search.projectPoint (p8, pp_2d[7]);
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pcl::PointXY min_pt_2d, max_pt_2d;
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min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
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max_pt_2d.x = max_pt_2d.y = -std::numeric_limits<float>::max ();
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// Search for the two extrema
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for (const auto &point : pp_2d)
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{
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if (point.x < min_pt_2d.x) min_pt_2d.x = point.x;
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if (point.y < min_pt_2d.y) min_pt_2d.y = point.y;
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if (point.x > max_pt_2d.x) max_pt_2d.x = point.x;
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if (point.y > max_pt_2d.y) max_pt_2d.y = point.y;
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}
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min_pt_2d.y = float (image->height) - min_pt_2d.y;
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max_pt_2d.y = float (image->height) - max_pt_2d.y;
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vtkSmartPointer<context_items::Rectangle> rect = vtkSmartPointer<context_items::Rectangle>::New ();
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rect->setColors (static_cast<unsigned char> (255.0 * r),
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static_cast<unsigned char> (255.0 * g),
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static_cast<unsigned char> (255.0 * b));
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rect->setOpacity (opacity);
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rect->set (min_pt_2d.x, min_pt_2d.y, max_pt_2d.x, max_pt_2d.y);
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am_it->actor->GetScene ()->AddItem (rect);
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return (true);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addRectangle (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const T &min_pt,
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const T &max_pt,
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const std::string &layer_id, double opacity)
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{
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return (addRectangle<T> (image, min_pt, max_pt, 0.0, 1.0, 0.0, layer_id, opacity));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addRectangle (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const pcl::PointCloud<T> &mask,
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double r, double g, double b,
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const std::string &layer_id, double opacity)
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{
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// We assume that the data passed into image is organized, otherwise this doesn't make sense
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if (!image->isOrganized ())
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return (false);
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// Check to see if this ID entry already exists (has it been already added to the visualizer?)
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LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
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if (am_it == layer_map_.end ())
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{
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PCL_DEBUG ("[pcl::visualization::ImageViewer::addRectangle] No layer with ID'=%s' found. Creating new one...\n", layer_id.c_str ());
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am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
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}
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// Construct a search object to get the camera parameters
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pcl::search::OrganizedNeighbor<T> search;
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search.setInputCloud (image);
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std::vector<pcl::PointXY> pp_2d (mask.size ());
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for (std::size_t i = 0; i < mask.size (); ++i)
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search.projectPoint (mask[i], pp_2d[i]);
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pcl::PointXY min_pt_2d, max_pt_2d;
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min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
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max_pt_2d.x = max_pt_2d.y = -std::numeric_limits<float>::max ();
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// Search for the two extrema
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for (const auto &point : pp_2d)
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{
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if (point.x < min_pt_2d.x) min_pt_2d.x = point.x;
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if (point.y < min_pt_2d.y) min_pt_2d.y = point.y;
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if (point.x > max_pt_2d.x) max_pt_2d.x = point.x;
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if (point.y > max_pt_2d.y) max_pt_2d.y = point.y;
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}
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min_pt_2d.y = float (image->height) - min_pt_2d.y;
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max_pt_2d.y = float (image->height) - max_pt_2d.y;
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vtkSmartPointer<context_items::Rectangle> rect = vtkSmartPointer<context_items::Rectangle>::New ();
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rect->setColors (static_cast<unsigned char> (255.0 * r),
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static_cast<unsigned char> (255.0 * g),
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static_cast<unsigned char> (255.0 * b));
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rect->setOpacity (opacity);
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rect->set (min_pt_2d.x, min_pt_2d.y, max_pt_2d.x, max_pt_2d.y);
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am_it->actor->GetScene ()->AddItem (rect);
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return (true);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename T> bool
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pcl::visualization::ImageViewer::addRectangle (
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const typename pcl::PointCloud<T>::ConstPtr &image,
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const pcl::PointCloud<T> &mask,
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const std::string &layer_id, double opacity)
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{
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return (addRectangle (image, mask, 0.0, 1.0, 0.0, layer_id, opacity));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> bool
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pcl::visualization::ImageViewer::showCorrespondences (
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const pcl::PointCloud<PointT> &source_img,
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const pcl::PointCloud<PointT> &target_img,
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const pcl::Correspondences &correspondences,
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int nth,
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const std::string &layer_id)
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{
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if (correspondences.empty ())
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{
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PCL_DEBUG ("[pcl::visualization::ImageViewer::addCorrespondences] An empty set of correspondences given! Nothing to display.\n");
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return (false);
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}
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// Check to see if this ID entry already exists (has it been already added to the visualizer?)
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LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
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if (am_it == layer_map_.end ())
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{
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PCL_DEBUG ("[pcl::visualization::ImageViewer::addCorrespondences] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
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am_it = createLayer (layer_id, source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1.0, false);
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}
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int src_size = source_img.width * source_img.height * 3;
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int tgt_size = target_img.width * target_img.height * 3;
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// Set window size
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setSize (source_img.width + target_img.width , std::max (source_img.height, target_img.height));
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// Set data size
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if (data_size_ < static_cast<std::size_t> (src_size + tgt_size))
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{
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data_size_ = src_size + tgt_size;
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data_.reset (new unsigned char[data_size_]);
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}
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// Copy data in VTK format
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int j = 0;
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for (std::size_t i = 0; i < std::max (source_img.height, target_img.height); ++i)
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{
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// Still need to copy the source?
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if (i < source_img.height)
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{
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for (std::size_t k = 0; k < source_img.width; ++k)
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{
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data_[j++] = source_img[i * source_img.width + k].r;
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data_[j++] = source_img[i * source_img.width + k].g;
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data_[j++] = source_img[i * source_img.width + k].b;
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}
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}
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else
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{
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memcpy (&data_[j], 0, source_img.width * 3);
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j += source_img.width * 3;
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}
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// Still need to copy the target?
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if (i < source_img.height)
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{
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for (std::size_t k = 0; k < target_img.width; ++k)
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{
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data_[j++] = target_img[i * source_img.width + k].r;
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data_[j++] = target_img[i * source_img.width + k].g;
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data_[j++] = target_img[i * source_img.width + k].b;
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}
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}
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else
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{
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memcpy (&data_[j], 0, target_img.width * 3);
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j += target_img.width * 3;
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}
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}
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void* data = const_cast<void*> (reinterpret_cast<const void*> (data_.get ()));
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vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
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image->SetDimensions (source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1);
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image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
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image->GetPointData ()->GetScalars ()->SetVoidArray (data, data_size_, 1);
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vtkSmartPointer<PCLContextImageItem> image_item = vtkSmartPointer<PCLContextImageItem>::New ();
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image_item->set (0, 0, image);
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interactor_style_->adjustCamera (image, ren_);
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am_it->actor->GetScene ()->AddItem (image_item);
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image_viewer_->SetSize (image->GetDimensions ()[0], image->GetDimensions ()[1]);
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// Draw lines between the best corresponding points
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for (std::size_t i = 0; i < correspondences.size (); i += nth)
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{
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|
double r, g, b;
|
|
getRandomColors (r, g, b);
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unsigned char u_r = static_cast<unsigned char> (255.0 * r);
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unsigned char u_g = static_cast<unsigned char> (255.0 * g);
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unsigned char u_b = static_cast<unsigned char> (255.0 * b);
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vtkSmartPointer<context_items::Circle> query_circle = vtkSmartPointer<context_items::Circle>::New ();
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query_circle->setColors (u_r, u_g, u_b);
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vtkSmartPointer<context_items::Circle> match_circle = vtkSmartPointer<context_items::Circle>::New ();
|
|
match_circle->setColors (u_r, u_g, u_b);
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vtkSmartPointer<context_items::Line> line = vtkSmartPointer<context_items::Line>::New ();
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|
line->setColors (u_r, u_g, u_b);
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|
|
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float query_x = correspondences[i].index_query % source_img.width;
|
|
float match_x = correspondences[i].index_match % target_img.width + source_img.width;
|
|
float query_y = getSize ()[1] - correspondences[i].index_query / source_img.width;
|
|
float match_y = getSize ()[1] - correspondences[i].index_match / target_img.width;
|
|
|
|
query_circle->set (query_x, query_y, 3.0);
|
|
match_circle->set (match_x, match_y, 3.0);
|
|
line->set (query_x, query_y, match_x, match_y);
|
|
|
|
am_it->actor->GetScene ()->AddItem (query_circle);
|
|
am_it->actor->GetScene ()->AddItem (match_circle);
|
|
am_it->actor->GetScene ()->AddItem (line);
|
|
}
|
|
|
|
return (true);
|
|
}
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|
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#endif // PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_
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