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 <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->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);

    this->repaint();

}

SMPointCloudWidget::~SMPointCloudWidget(){

    //delete visualizer;

}