WebSVN – seema-scanner – Diff – /src/SMPointCloudWidget.cpp


#include "SMPointCloudWidget.h"
 
#include <opencv2/opencv.hpp>
#include <opencv2/core/eigen.hpp>
 
#include <vtkWindowToImageFilter.h>
#include <vtkPNGWriter.h>
#include <vtkRenderWindow.h>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/visualization/point_cloud_color_handlers.h>
#include <pcl/geometry/quad_mesh.h>
 
#include <fstream>
 
 
#include <QFileDialog>
#include <QSettings>
 
#include "SMCalibrationParameters.h"
 
SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {
 
    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
    this->SetRenderWindow(visualizer->getRenderWindow());
 
    visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
 
    // Disable double buffering (which causes lag in VTK6)
    visualizer->getRenderWindow()->SetDoubleBuffer(0);
 
    visualizer->setShowFPS(false);
 
    // Create point cloud viewport
    visualizer->setBackgroundColor(0, 0, 0);
    visualizer->addCoordinateSystem(100, "camera0", 0);
    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
 
 
    // Initialize point cloud color handler
    colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();
 
    updateCalibrationParameters();
    //time.start();
}
 
void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    // Note: using the color handler makes a copy of the rgb fields
    colorHandler->setInputCloud(pointCloud.pointCloud);
 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
     }
 
    // transformation matrix in Eigen format
    cv::Mat TransformCV(3, 4, CV_32F);
    cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));
    cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));
    Eigen::Affine3f Transform;
    cv::cv2eigen(TransformCV, Transform.matrix());
 
    visualizer->updatePointCloudPose(stringId, Transform.inverse());
 
    this->update();
 
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    // Note: using the color handler makes a copy of the rgb fields
    colorHandler->setInputCloud(pointCloud.pointCloud);
 
    if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){
        visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);
        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);
     }
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::removePointCloud(int id){
 
    std::string stringId = QString::number(id).toStdString();
//    std::string stringId = QString("id%1").arg(id).toStdString();
 
    visualizer->removePointCloud(stringId);
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::removeAllPointClouds(){
 
    visualizer->removeAllPointClouds();
 
    this->update();
    emit pointCloudDataChanged();
 
}
 
void SMPointCloudWidget::saveScreenShot(){
 
    vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();
    //filter->SetInput(visualizer->getRenderWindow());
    filter->Modified();
 
    QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");
    QFileInfo info(fileName);
    QString type = info.suffix();
    if(type == "")
        fileName.append(".png");
 
    vtkPNGWriter* writer = vtkPNGWriter::New();
    writer->SetFileName(qPrintable(fileName));
    writer->SetInputConnection(filter->GetOutputPort());
    writer->Write();
    writer->Delete();
}
 
void SMPointCloudWidget::updateCalibrationParameters(){
 
    QSettings settings;
    QVariant calibrationVariant = settings.value("calibration/parameters");
    SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();
 
    // camera 0 coordinate system
    visualizer->removeCoordinateSystem("camera0", 0);
    visualizer->addCoordinateSystem(100, "camera0", 0);
 
    // camera 1 coordinate system
    cv::Mat Transform1CV(3, 4, CV_32F);
    cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));
    cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));
    Eigen::Affine3f Transform1;
    cv::cv2eigen(Transform1CV, Transform1.matrix());
 
    visualizer->removeCoordinateSystem("camera1", 0);
    visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);
 
//    // rotation axis coordinate system
//    cv::Mat TransformRCV(3, 4, CV_32F);
//    cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));
//    cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));
//    Eigen::Affine3f TransformR;
 
//    cv::cv2eigen(TransformRCV, TransformR.matrix());
//    visualizer->removeCoordinateSystem("camera1", 0);
//    visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);
 
    // rotation axis pointing (0,1,0) in rotation stage frame
    cv::Vec3f O(0.0, 0.0, 0.0);
    cv::Vec3f v(0.0, 600.0, 0.0);
 
    // determine coefficients in camera 0 frame
    O = calibration.Rr.t()*O + -calibration.Rr.t()*calibration.Tr;
    v = calibration.Rr.t()*v + -calibration.Rr.t()*calibration.Tr - O;
 
    pcl::ModelCoefficients lineCoefficients;
    lineCoefficients.values.resize(6);
    lineCoefficients.values[0] = O[0];
    lineCoefficients.values[1] = O[1];
    lineCoefficients.values[2] = O[2];
    lineCoefficients.values[3] = v[0];
    lineCoefficients.values[4] = v[1];
    lineCoefficients.values[5] = v[2];
    visualizer->removeShape("line");
    visualizer->addLine(lineCoefficients);
 
 
 
}
 
SMPointCloudWidget::~SMPointCloudWidget(){
 
    //delete visualizer;
 
}
 

Subversion Repositories seema-scanner

(root)/src/SMPointCloudWidget.cpp – Rev 187 → 191

Rev 187		Rev 191
1	`#include "SMPointCloudWidget.h"`	1	`#include "SMPointCloudWidget.h"`
2		2
3	`#include <opencv2/opencv.hpp>`	3	`#include <opencv2/opencv.hpp>`
4	`#include <opencv2/core/eigen.hpp>`	4	`#include <opencv2/core/eigen.hpp>`
5		5
6	`#include <vtkWindowToImageFilter.h>`	6	`#include <vtkWindowToImageFilter.h>`
7	`#include <vtkPNGWriter.h>`	7	`#include <vtkPNGWriter.h>`
8	`#include <vtkRenderWindow.h>`	8	`#include <vtkRenderWindow.h>`
9		9
10	`#include <pcl/point_cloud.h>`	10	`#include <pcl/point_cloud.h>`
11	`#include <pcl/point_types.h>`	11	`#include <pcl/point_types.h>`
12	`#include <pcl/common/io.h>`	12	`#include <pcl/common/io.h>`
13	`#include <pcl/visualization/point_cloud_color_handlers.h>`	13	`#include <pcl/visualization/point_cloud_color_handlers.h>`
14	`#include <pcl/geometry/quad_mesh.h>`	14	`#include <pcl/geometry/quad_mesh.h>`
15		15
16	`#include <fstream>`	16	`#include <fstream>`
17		17
18		18
19	`#include <QFileDialog>`	19	`#include <QFileDialog>`
20	`#include <QSettings>`	20	`#include <QSettings>`
21		21
22	`#include "SMCalibrationParameters.h"`	22	`#include "SMCalibrationParameters.h"`
23		23
24	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {`	24	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {`
25		25
26	`visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`	26	`visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`
27	`this->SetRenderWindow(visualizer->getRenderWindow());`	27	`this->SetRenderWindow(visualizer->getRenderWindow());`
28		28
-		29	`visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());`
-		30
29	`// Disable double buffering (which causes lag in VTK6)`	31	`// Disable double buffering (which causes lag in VTK6)`
30	`visualizer->getRenderWindow()->SetDoubleBuffer(0);`	32	`visualizer->getRenderWindow()->SetDoubleBuffer(0);`
31		33
32	`visualizer->setShowFPS(false);`	34	`visualizer->setShowFPS(false);`
33		35
34	`// Create point cloud viewport`	36	`// Create point cloud viewport`
35	`visualizer->setBackgroundColor(0, 0, 0);`	37	`visualizer->setBackgroundColor(0, 0, 0);`
36	`visualizer->addCoordinateSystem(100, "camera0", 0);`	38	`visualizer->addCoordinateSystem(100, "camera0", 0);`
37	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`	39	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`
38		40
39		41
40	`// Initialize point cloud color handler`	42	`// Initialize point cloud color handler`
41	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`	43	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBNormal>();`
42		44
43	`updateCalibrationParameters();`	45	`updateCalibrationParameters();`
44	`//time.start();`	46	`//time.start();`
45	`}`	47	`}`
46		48
47	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`	49	`void SMPointCloudWidget::addPointCloud(SMPointCloud pointCloud, int id){`
48		50
49	`std::string stringId = QString::number(id).toStdString();`	51	`std::string stringId = QString::number(id).toStdString();`
50	`// std::string stringId = QString("id%1").arg(id).toStdString();`	52	`// std::string stringId = QString("id%1").arg(id).toStdString();`
51		53
52	`// Note: using the color handler makes a copy of the rgb fields`	54	`// Note: using the color handler makes a copy of the rgb fields`
53	`colorHandler->setInputCloud(pointCloud.pointCloud);`	55	`colorHandler->setInputCloud(pointCloud.pointCloud);`
54		56
55	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	57	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
56	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	58	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
57	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	59	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
58	`}`	60	`}`
59		61
60	`// transformation matrix in Eigen format`	62	`// transformation matrix in Eigen format`
61	`cv::Mat TransformCV(3, 4, CV_32F);`	63	`cv::Mat TransformCV(3, 4, CV_32F);`
62	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`	64	`cv::Mat(pointCloud.R).copyTo(TransformCV.colRange(0, 3));`
63	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`	65	`cv::Mat(pointCloud.T).copyTo(TransformCV.col(3));`
64	`Eigen::Affine3f Transform;`	66	`Eigen::Affine3f Transform;`
65	`cv::cv2eigen(TransformCV, Transform.matrix());`	67	`cv::cv2eigen(TransformCV, Transform.matrix());`
66		68
67	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`	69	`visualizer->updatePointCloudPose(stringId, Transform.inverse());`
68		70
69	`this->update();`	71	`this->update();`
70		72
71	`emit pointCloudDataChanged();`	73	`emit pointCloudDataChanged();`
72		74
73	`}`	75	`}`
74		76
75	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`	77	`void SMPointCloudWidget::updatePointCloud(SMPointCloud pointCloud, int id){`
76		78
77	`std::string stringId = QString::number(id).toStdString();`	79	`std::string stringId = QString::number(id).toStdString();`
78	`// std::string stringId = QString("id%1").arg(id).toStdString();`	80	`// std::string stringId = QString("id%1").arg(id).toStdString();`
79		81
80	`// Note: using the color handler makes a copy of the rgb fields`	82	`// Note: using the color handler makes a copy of the rgb fields`
81	`colorHandler->setInputCloud(pointCloud.pointCloud);`	83	`colorHandler->setInputCloud(pointCloud.pointCloud);`
82		84
83	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`	85	`if(!visualizer->updatePointCloud(pointCloud.pointCloud, *colorHandler, stringId)){`
84	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`	86	`visualizer->addPointCloud(pointCloud.pointCloud, *colorHandler, stringId);`
85	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`	87	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, stringId);`
86	`}`	88	`}`
87		89
88	`this->update();`	90	`this->update();`
89	`emit pointCloudDataChanged();`	91	`emit pointCloudDataChanged();`
90		92
91	`}`	93	`}`
92		94
93	`void SMPointCloudWidget::removePointCloud(int id){`	95	`void SMPointCloudWidget::removePointCloud(int id){`
94		96
95	`std::string stringId = QString::number(id).toStdString();`	97	`std::string stringId = QString::number(id).toStdString();`
96	`// std::string stringId = QString("id%1").arg(id).toStdString();`	98	`// std::string stringId = QString("id%1").arg(id).toStdString();`
97		99
98	`visualizer->removePointCloud(stringId);`	100	`visualizer->removePointCloud(stringId);`
99		101
100	`this->update();`	102	`this->update();`
101	`emit pointCloudDataChanged();`	103	`emit pointCloudDataChanged();`
102		104
103	`}`	105	`}`
104		106
105	`void SMPointCloudWidget::removeAllPointClouds(){`	107	`void SMPointCloudWidget::removeAllPointClouds(){`
106		108
107	`visualizer->removeAllPointClouds();`	109	`visualizer->removeAllPointClouds();`
108		110
109	`this->update();`	111	`this->update();`
110	`emit pointCloudDataChanged();`	112	`emit pointCloudDataChanged();`
111		113
112	`}`	114	`}`
113		115
114	`void SMPointCloudWidget::saveScreenShot(){`	116	`void SMPointCloudWidget::saveScreenShot(){`
115		117
116	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`	118	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`
117	`//filter->SetInput(visualizer->getRenderWindow());`	119	`//filter->SetInput(visualizer->getRenderWindow());`
118	`filter->Modified();`	120	`filter->Modified();`
119		121
120	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`	122	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`
121	`QFileInfo info(fileName);`	123	`QFileInfo info(fileName);`
122	`QString type = info.suffix();`	124	`QString type = info.suffix();`
123	`if(type == "")`	125	`if(type == "")`
124	`fileName.append(".png");`	126	`fileName.append(".png");`
125		127
126	`vtkPNGWriter* writer = vtkPNGWriter::New();`	128	`vtkPNGWriter* writer = vtkPNGWriter::New();`
127	`writer->SetFileName(qPrintable(fileName));`	129	`writer->SetFileName(qPrintable(fileName));`
128	`writer->SetInputConnection(filter->GetOutputPort());`	130	`writer->SetInputConnection(filter->GetOutputPort());`
129	`writer->Write();`	131	`writer->Write();`
130	`writer->Delete();`	132	`writer->Delete();`
131	`}`	133	`}`
132		134
133	`void SMPointCloudWidget::updateCalibrationParameters(){`	135	`void SMPointCloudWidget::updateCalibrationParameters(){`
134		136
135	`QSettings settings;`	137	`QSettings settings;`
136	`QVariant calibrationVariant = settings.value("calibration/parameters");`	138	`QVariant calibrationVariant = settings.value("calibration/parameters");`
137	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`	139	`SMCalibrationParameters calibration = calibrationVariant.value<SMCalibrationParameters>();`
138		140
139	`// camera 0 coordinate system`	141	`// camera 0 coordinate system`
140	`visualizer->removeCoordinateSystem("camera0", 0);`	142	`visualizer->removeCoordinateSystem("camera0", 0);`
141	`visualizer->addCoordinateSystem(100, "camera0", 0);`	143	`visualizer->addCoordinateSystem(100, "camera0", 0);`
142		144
143	`// camera 1 coordinate system`	145	`// camera 1 coordinate system`
144	`cv::Mat Transform1CV(3, 4, CV_32F);`	146	`cv::Mat Transform1CV(3, 4, CV_32F);`
145	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`	147	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`
146	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`	148	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`
147	`Eigen::Affine3f Transform1;`	149	`Eigen::Affine3f Transform1;`
148	`cv::cv2eigen(Transform1CV, Transform1.matrix());`	150	`cv::cv2eigen(Transform1CV, Transform1.matrix());`
149		151
150	`visualizer->removeCoordinateSystem("camera1", 0);`	152	`visualizer->removeCoordinateSystem("camera1", 0);`
151	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`	153	`visualizer->addCoordinateSystem(100, Transform1.inverse(), "camera1", 0);`
152		154
153	`// // rotation axis coordinate system`	155	`// // rotation axis coordinate system`
154	`// cv::Mat TransformRCV(3, 4, CV_32F);`	156	`// cv::Mat TransformRCV(3, 4, CV_32F);`
155	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`	157	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`
156	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`	158	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`
157	`// Eigen::Affine3f TransformR;`	159	`// Eigen::Affine3f TransformR;`
158		160
159	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`	161	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
160	`// visualizer->removeCoordinateSystem("camera1", 0);`	162	`// visualizer->removeCoordinateSystem("camera1", 0);`
161	`// visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);`	163	`// visualizer->addCoordinateSystem(100, TransformR.inverse(), "rotation", 0);`
162		164
163	`// rotation axis pointing (0,1,0) in rotation stage frame`	165	`// rotation axis pointing (0,1,0) in rotation stage frame`
164	`cv::Vec3f O(0.0, 0.0, 0.0);`	166	`cv::Vec3f O(0.0, 0.0, 0.0);`
165	`cv::Vec3f v(0.0, 600.0, 0.0);`	167	`cv::Vec3f v(0.0, 600.0, 0.0);`
166		168
167	`// determine coefficients in camera 0 frame`	169	`// determine coefficients in camera 0 frame`
168	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`	170	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
169	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`	171	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
170		172
171	`pcl::ModelCoefficients lineCoefficients;`	173	`pcl::ModelCoefficients lineCoefficients;`
172	`lineCoefficients.values.resize(6);`	174	`lineCoefficients.values.resize(6);`
173	`lineCoefficients.values[0] = O[0];`	175	`lineCoefficients.values[0] = O[0];`
174	`lineCoefficients.values[1] = O[1];`	176	`lineCoefficients.values[1] = O[1];`
175	`lineCoefficients.values[2] = O[2];`	177	`lineCoefficients.values[2] = O[2];`
176	`lineCoefficients.values[3] = v[0];`	178	`lineCoefficients.values[3] = v[0];`
177	`lineCoefficients.values[4] = v[1];`	179	`lineCoefficients.values[4] = v[1];`
178	`lineCoefficients.values[5] = v[2];`	180	`lineCoefficients.values[5] = v[2];`
179	`visualizer->removeShape("line");`	181	`visualizer->removeShape("line");`
180	`visualizer->addLine(lineCoefficients);`	182	`visualizer->addLine(lineCoefficients);`
181		183
182		184
183		185
184	`}`	186	`}`
185		187
186	`SMPointCloudWidget::~SMPointCloudWidget(){`	188	`SMPointCloudWidget::~SMPointCloudWidget(){`
187		189
188	`//delete visualizer;`	190	`//delete visualizer;`
189		191
190	`}`	192	`}`
191		193