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 <pcl/io/pcd_io.h>
#include <pcl/io/ascii_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/png_io.h>
#include <pcl/io/vtk_io.h>
#include <vtkPolyDataWriter.h>
#include <pcl/conversions.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->setShowFPS(false);
 
    // Create point cloud viewport
    visualizer->setBackgroundColor(0, 0, 0);
    visualizer->addCoordinateSystem(100, 0);
#ifndef __APPLE__
    // this leads to a segfault on OS X
    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
#endif
 
    // Initialize point cloud color handler
    colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>();
 
    updateCalibrationParameters();
    //time.start();
}
 
void SMPointCloudWidget::updatePointCloud(PointCloudConstPtr _pointCloudPCL){
 
//    time.restart();
 
    pointCloudPCL = _pointCloudPCL;
 
    // Note: using the color handler makes a copy of the rgb fields
    colorHandler->setInputCloud(_pointCloudPCL);
 
    if(!visualizer->updatePointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL")){
        visualizer->addPointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL");
        visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, "pointCloudPCL");
     }
 
    this->update();
    emit newPointCloudDisplayed();
 
//    std::cout << "PCL Widget: " << time.restart() << "ms" << std::endl;
}
 
void SMPointCloudWidget::savePointCloud(){
 
    QString selectedFilter;
    QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), "*.pcd;;*.ply;;*.vtk;;*.png;;*.txt", &selectedFilter);
    QFileInfo info(fileName);
    QString type = info.suffix();
    if(type == ""){
        fileName.append(selectedFilter.remove(0,1));
        type = selectedFilter.remove(0,1);
    }
 
    if(type == "pcd"){
        pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);
    } else if(type == "ply"){
        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
        pcl::PLYWriter w;
        // Write to ply in binary without camera
        w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);
    } else if(type == "vtk"){
        pcl::PCLPointCloud2 pointCloud2;
        pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);
        pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);
 
//        vtkPolyData polyData;
//        pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);
//        vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();
//        writer->SetInput(polyData);
//        writer->SetFileName(fileName.toStdString());
//        writer->Update();
    } else if(type == "png"){
        pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");
    } else if(type == "txt"){
        std::ofstream s(fileName.toLocal8Bit());
        for(unsigned int r=0; r<pointCloudPCL->height; r++){
            for(unsigned int c=0; c<pointCloudPCL->width; c++){
                pcl::PointXYZRGB p = pointCloudPCL->at(c, r);
                if(p.x == p.x)
                    s << p.x << " " << p.y << " " << p.z << "\r\n";
            }
        }
        std::flush(s);
        s.close();
    }
 
}
 
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->SetInput(filter->GetOutput());
    writer->SetFileName(qPrintable(fileName));
    writer->Write();
    writer->Delete();
}
 
void SMPointCloudWidget::updateCalibrationParameters(){
 
    QSettings settings;
    SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
 
    // camera 0 coordinate system
    visualizer->removeCoordinateSystem(0);
    visualizer->addCoordinateSystem(100, 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->addCoordinateSystem(100, Transform1.inverse());
 
    // 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->addCoordinateSystem(100, TransformR);
 
    // rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame
    cv::Vec3f O(0.0, -100.0, 0.0);
    cv::Vec3f v(0.0, 300.0, 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 34 → 36

Rev 34		Rev 36
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 <pcl/io/pcd_io.h>`	16	`#include <pcl/io/pcd_io.h>`
17	`#include <pcl/io/ascii_io.h>`	17	`#include <pcl/io/ascii_io.h>`
18	`#include <pcl/io/ply_io.h>`	18	`#include <pcl/io/ply_io.h>`
19	`#include <pcl/io/png_io.h>`	19	`#include <pcl/io/png_io.h>`
20	`#include <pcl/io/vtk_io.h>`	20	`#include <pcl/io/vtk_io.h>`
21	`#include <vtkPolyDataWriter.h>`	21	`#include <vtkPolyDataWriter.h>`
22	`#include <pcl/conversions.h>`	22	`#include <pcl/conversions.h>`
23		23
24	`#include <fstream>`	24	`#include <fstream>`
25		25
26	`#include <QFileDialog>`	26	`#include <QFileDialog>`
27	`#include <QSettings>`	27	`#include <QSettings>`
28		28
29	`#include "SMCalibrationParameters.h"`	29	`#include "SMCalibrationParameters.h"`
30		30
31	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {`	31	`SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {`
32		32
33	`visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`	33	`visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);`
34	`this->SetRenderWindow(visualizer->getRenderWindow());`	34	`this->SetRenderWindow(visualizer->getRenderWindow());`
35		35
36	`visualizer->setShowFPS(false);`	36	`visualizer->setShowFPS(false);`
37		37
38	`// Create point cloud viewport`	38	`// Create point cloud viewport`
39	`visualizer->setBackgroundColor(0, 0, 0);`	39	`visualizer->setBackgroundColor(0, 0, 0);`
40	`visualizer->addCoordinateSystem(100, 0);`	40	`visualizer->addCoordinateSystem(100, 0);`
41	`#ifndef __APPLE__`	41	`#ifndef __APPLE__`
42	`// this leads to a segfault on OS X`	42	`// this leads to a segfault on OS X`
43	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`	43	`visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);`
44	`#endif`	44	`#endif`
45		45
46	`// Initialize point cloud color handler`	46	`// Initialize point cloud color handler`
47	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>();`	47	`colorHandler = new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>();`
48		48
49	`updateCalibrationParameters();`	49	`updateCalibrationParameters();`
50	`//time.start();`	50	`//time.start();`
51	`}`	51	`}`
52		52
53	`void SMPointCloudWidget::updatePointCloud(PointCloudConstPtr _pointCloudPCL){`	53	`void SMPointCloudWidget::updatePointCloud(PointCloudConstPtr _pointCloudPCL){`
54		54
55	`// time.restart();`	55	`// time.restart();`
56		56
57	`pointCloudPCL = _pointCloudPCL;`	57	`pointCloudPCL = _pointCloudPCL;`
58		58
59	`// Note: using the color handler makes a copy of the rgb fields`	59	`// Note: using the color handler makes a copy of the rgb fields`
60	`colorHandler->setInputCloud(_pointCloudPCL);`	60	`colorHandler->setInputCloud(_pointCloudPCL);`
61		61
62	`if(!visualizer->updatePointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL")){`	62	`if(!visualizer->updatePointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL")){`
63	`visualizer->addPointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL");`	63	`visualizer->addPointCloud(pointCloudPCL, *colorHandler, "pointCloudPCL");`
64	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, "pointCloudPCL");`	64	`visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, "pointCloudPCL");`
65	`}`	65	`}`
66		66
67	`this->update();`	67	`this->update();`
68	`emit newPointCloudDisplayed();`	68	`emit newPointCloudDisplayed();`
69		69
70	`// std::cout << "PCL Widget: " << time.restart() << "ms" << std::endl;`	70	`// std::cout << "PCL Widget: " << time.restart() << "ms" << std::endl;`
71	`}`	71	`}`
72		72
73	`void SMPointCloudWidget::savePointCloud(){`	73	`void SMPointCloudWidget::savePointCloud(){`
74		74
75	`QString selectedFilter;`	75	`QString selectedFilter;`
76	`QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`	76	`QString fileName = QFileDialog::getSaveFileName(this, "Save Point Cloud", QString(), ".pcd;;.ply;;.vtk;;.png;;*.txt", &selectedFilter);`
77	`QFileInfo info(fileName);`	77	`QFileInfo info(fileName);`
78	`QString type = info.suffix();`	78	`QString type = info.suffix();`
79	`if(type == ""){`	79	`if(type == ""){`
80	`fileName.append(selectedFilter.remove(0,1));`	80	`fileName.append(selectedFilter.remove(0,1));`
81	`type = selectedFilter.remove(0,1);`	81	`type = selectedFilter.remove(0,1);`
82	`}`	82	`}`
83		83
84	`if(type == "pcd"){`	84	`if(type == "pcd"){`
85	`pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`	85	`pcl::io::savePCDFileASCII(fileName.toStdString(), *pointCloudPCL);`
86	`} else if(type == "ply"){`	86	`} else if(type == "ply"){`
87	`//pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`	87	`//pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);`
88	`pcl::PLYWriter w;`	88	`pcl::PLYWriter w;`
89	`// Write to ply in binary without camera`	89	`// Write to ply in binary without camera`
90	`w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);`	90	`w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);`
91	`} else if(type == "vtk"){`	91	`} else if(type == "vtk"){`
92	`pcl::PCLPointCloud2 pointCloud2;`	92	`pcl::PCLPointCloud2 pointCloud2;`
93	`pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`	93	`pcl::toPCLPointCloud2(*pointCloudPCL, pointCloud2);`
94	`pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`	94	`pcl::io::saveVTKFile(fileName.toStdString(), pointCloud2);`
95		95
96	`// vtkPolyData polyData;`	96	`// vtkPolyData polyData;`
97	`// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`	97	`// pcl::io::pointCloudTovtkPolyData(*pointCloudPCL, polyData);`
98	`// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`	98	`// vtkPolyDataWriter::Pointer writer = vtkPolyDataWriter::New();`
99	`// writer->SetInput(polyData);`	99	`// writer->SetInput(polyData);`
100	`// writer->SetFileName(fileName.toStdString());`	100	`// writer->SetFileName(fileName.toStdString());`
101	`// writer->Update();`	101	`// writer->Update();`
102	`} else if(type == "png"){`	102	`} else if(type == "png"){`
103	`pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`	103	`pcl::io::savePNGFile(fileName.toStdString(), *pointCloudPCL, "rgb");`
104	`} else if(type == "txt"){`	104	`} else if(type == "txt"){`
105	`std::ofstream s(fileName.toLocal8Bit());`	105	`std::ofstream s(fileName.toLocal8Bit());`
106	`for(unsigned int r=0; r<pointCloudPCL->height; r++){`	106	`for(unsigned int r=0; r<pointCloudPCL->height; r++){`
107	`for(unsigned int c=0; c<pointCloudPCL->width; c++){`	107	`for(unsigned int c=0; c<pointCloudPCL->width; c++){`
108	`pcl::PointXYZRGB p = pointCloudPCL->at(c, r);`	108	`pcl::PointXYZRGB p = pointCloudPCL->at(c, r);`
109	`if(p.x == p.x)`	109	`if(p.x == p.x)`
110	`s << p.x << " " << p.y << " " << p.z << "\r\n";`	110	`s << p.x << " " << p.y << " " << p.z << "\r\n";`
111	`}`	111	`}`
112	`}`	112	`}`
113	`std::flush(s);`	113	`std::flush(s);`
114	`s.close();`	114	`s.close();`
115	`}`	115	`}`
116		116
117	`}`	117	`}`
118		118
119	`void SMPointCloudWidget::saveScreenShot(){`	119	`void SMPointCloudWidget::saveScreenShot(){`
120		120
121	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`	121	`vtkWindowToImageFilter* filter = vtkWindowToImageFilter::New();`
122	`//filter->SetInput(visualizer->getRenderWindow());`	122	`//filter->SetInput(visualizer->getRenderWindow());`
123	`filter->Modified();`	123	`filter->Modified();`
124		124
125	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`	125	`QString fileName = QFileDialog::getSaveFileName(this, "Save Screen Shot", QString(), "*.png");`
126	`QFileInfo info(fileName);`	126	`QFileInfo info(fileName);`
127	`QString type = info.suffix();`	127	`QString type = info.suffix();`
128	`if(type == "")`	128	`if(type == "")`
129	`fileName.append(".png");`	129	`fileName.append(".png");`
130		130
131	`vtkPNGWriter* writer = vtkPNGWriter::New();`	131	`vtkPNGWriter* writer = vtkPNGWriter::New();`
132	`writer->SetInput(filter->GetOutput());`	132	`writer->SetInput(filter->GetOutput());`
133	`writer->SetFileName(qPrintable(fileName));`	133	`writer->SetFileName(qPrintable(fileName));`
134	`writer->Write();`	134	`writer->Write();`
135	`writer->Delete();`	135	`writer->Delete();`
136	`}`	136	`}`
137		137
138	`void SMPointCloudWidget::updateCalibrationParameters(){`	138	`void SMPointCloudWidget::updateCalibrationParameters(){`
139		139
140	`QSettings settings;`	140	`QSettings settings;`
141	`SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	141	`SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
142		142
143	`// camera 0 coordinate system`	143	`// camera 0 coordinate system`
144	`visualizer->removeCoordinateSystem(0);`	144	`visualizer->removeCoordinateSystem(0);`
145	`visualizer->addCoordinateSystem(100, 0);`	145	`visualizer->addCoordinateSystem(100, 0);`
146		146
147	`// camera 1 coordinate system`	147	`// camera 1 coordinate system`
148	`cv::Mat Transform1CV(3, 4, CV_32F);`	148	`cv::Mat Transform1CV(3, 4, CV_32F);`
149	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`	149	`cv::Mat(calibration.R1).copyTo(Transform1CV.colRange(0, 3));`
150	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`	150	`cv::Mat(calibration.T1).copyTo(Transform1CV.col(3));`
151	`Eigen::Affine3f Transform1;`	151	`Eigen::Affine3f Transform1;`
152	`cv::cv2eigen(Transform1CV, Transform1.matrix());`	152	`cv::cv2eigen(Transform1CV, Transform1.matrix());`
153		153
154	`//visualizer->addCoordinateSystem(100, Transform1.inverse());`	154	`visualizer->addCoordinateSystem(100, Transform1.inverse());`
-		155
-		156	`// rotation axis coordinate system`
-		157	`// cv::Mat TransformRCV(3, 4, CV_32F);`
-		158	`// cv::Mat(calibration.Rr).copyTo(TransformRCV.colRange(0, 3));`
-		159	`// cv::Mat(calibration.Tr).copyTo(TransformRCV.col(3));`
-		160	`// Eigen::Affine3f TransformR;`
-		161	`// cv::cv2eigen(TransformRCV, TransformR.matrix());`
-		162
-		163	`// visualizer->addCoordinateSystem(100, TransformR);`
155		164
156	`// rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame`	165	`// rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame`
157	`cv::Vec3f O(0.0, 0.0, 0.0);`	166	`cv::Vec3f O(0.0, -100.0, 0.0);`
158	`cv::Vec3f v(0.0, 1.0, 0.0);`	167	`cv::Vec3f v(0.0, 300.0, 0.0);`
159		168
160	`// determine coefficients in camera 0 frame`	169	`// determine coefficients in camera 0 frame`
161	`O = calibration.Rr*O + calibration.Tr;`	170	`O = calibration.Rr.t()O + -calibration.Rr.t()calibration.Tr;`
162	`v = calibration.Rr*v + calibration.Tr;`	171	`v = calibration.Rr.t()v + -calibration.Rr.t()calibration.Tr - O;`
163		172
164	`pcl::ModelCoefficients lineCoefficients;`	173	`pcl::ModelCoefficients lineCoefficients;`
165	`lineCoefficients.values.resize(6);`	174	`lineCoefficients.values.resize(6);`
166	`lineCoefficients.values[0] = O[0];`	175	`lineCoefficients.values[0] = O[0];`
167	`lineCoefficients.values[1] = O[1];`	176	`lineCoefficients.values[1] = O[1];`
168	`lineCoefficients.values[2] = O[2];`	177	`lineCoefficients.values[2] = O[2];`
169	`lineCoefficients.values[3] = v[0];`	178	`lineCoefficients.values[3] = v[0];`
170	`lineCoefficients.values[4] = v[1];`	179	`lineCoefficients.values[4] = v[1];`
171	`lineCoefficients.values[5] = v[2];`	180	`lineCoefficients.values[5] = v[2];`
172	`visualizer->removeShape("line");`	181	`visualizer->removeShape("line");`
173	`visualizer->addLine(lineCoefficients);`	182	`visualizer->addLine(lineCoefficients);`
-		183
-		184
174	`}`	185	`}`
175		186
176	`SMPointCloudWidget::~SMPointCloudWidget(){`	187	`SMPointCloudWidget::~SMPointCloudWidget(){`
177		188
178	`//delete visualizer;`	189	`//delete visualizer;`
179		190
180	`}`	191	`}`
181		192