Subversion Repositories seema-scanner

#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 <vtkGenericOpenGLRenderWindow.h>

#include <fstream>

#include <QFileDialog>

#include <QSettings>

#include "SMCalibrationParameters.h"

SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKOpenGLWidget(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);

    auto renderer = vtkSmartPointer<vtkRenderer>::New();

    auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow >::New();

    renderWindow->AddRenderer(renderer);

    visualizer = new pcl::visualization::PCLVisualizer(renderer, renderWindow, "PCLVisualizer", false);

    this->SetRenderWindow(visualizer->getRenderWindow());

    visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());

    this->update();

    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->repaint();

    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->repaint();

    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->repaint();

    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, "line");

    this->repaint();

}

SMPointCloudWidget::~SMPointCloudWidget(){

    //delete visualizer;

}