223 lines
7.0 KiB
C++
223 lines
7.0 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) 2010-2011, 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_PCL_HISTOGRAM_VISUALIZER_IMPL_H_
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#define PCL_PCL_HISTOGRAM_VISUALIZER_IMPL_H_
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#include <vtkDoubleArray.h>
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namespace pcl
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{
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namespace visualization
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{
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template <typename PointT> bool
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PCLHistogramVisualizer::addFeatureHistogram (
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const pcl::PointCloud<PointT> &cloud, int hsize,
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const std::string &id, int win_width, int win_height)
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{
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auto am_it = wins_.find (id);
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if (am_it != wins_.end ())
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{
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PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
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return (false);
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}
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vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
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xy_array->SetNumberOfComponents (2);
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xy_array->SetNumberOfTuples (hsize);
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// Parse the cloud data and store it in the array
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double xy[2];
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for (int d = 0; d < hsize; ++d)
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{
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xy[0] = d;
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xy[1] = cloud[0].histogram[d];
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xy_array->SetTuple (d, xy);
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}
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RenWinInteract renwinint;
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createActor (xy_array, renwinint, id, win_width, win_height);
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// Save the pointer/ID pair to the global window map
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wins_[id] = renwinint;
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return (true);
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}
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template <typename PointT> bool
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PCLHistogramVisualizer::addFeatureHistogram (
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const pcl::PointCloud<PointT> &cloud,
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const std::string &field_name,
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const pcl::index_t index,
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const std::string &id, int win_width, int win_height)
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{
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if (index < 0 || index >= cloud.size ())
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{
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PCL_ERROR ("[addFeatureHistogram] Invalid point index (%d) given!\n", index);
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return (false);
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}
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// Get the fields present in this cloud
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std::vector<pcl::PCLPointField> fields;
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// Check if our field exists
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int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
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if (field_idx == -1)
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{
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PCL_ERROR ("[addFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
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return (false);
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}
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auto am_it = wins_.find (id);
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if (am_it != wins_.end ())
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{
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PCL_WARN ("[addFeatureHistogram] A window with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
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return (false);
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}
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vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
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xy_array->SetNumberOfComponents (2);
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xy_array->SetNumberOfTuples (fields[field_idx].count);
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// Parse the cloud data and store it in the array
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double xy[2];
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for (uindex_t d = 0; d < fields[field_idx].count; ++d)
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{
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xy[0] = d;
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//xy[1] = cloud[index].histogram[d];
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float data;
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memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + d * sizeof (float), sizeof (float));
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xy[1] = data;
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xy_array->SetTuple (d, xy);
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}
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RenWinInteract renwinint;
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createActor (xy_array, renwinint, id, win_width, win_height);
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// Save the pointer/ID pair to the global window map
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wins_[id] = renwinint;
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return (true);
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}
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template <typename PointT> bool
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PCLHistogramVisualizer::updateFeatureHistogram (
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const pcl::PointCloud<PointT> &cloud, int hsize,
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const std::string &id)
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{
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auto am_it = wins_.find (id);
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if (am_it == wins_.end ())
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{
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PCL_WARN ("[updateFeatureHistogram] A window with id <%s> does not exists!.\n", id.c_str ());
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return (false);
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}
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RenWinInteract* renwinupd = &wins_[id];
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vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
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xy_array->SetNumberOfComponents (2);
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xy_array->SetNumberOfTuples (hsize);
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// Parse the cloud data and store it in the array
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double xy[2];
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for (int d = 0; d < hsize; ++d)
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{
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xy[0] = d;
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xy[1] = cloud[0].histogram[d];
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xy_array->SetTuple (d, xy);
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}
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reCreateActor (xy_array, renwinupd, hsize);
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return (true);
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}
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template <typename PointT> bool
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PCLHistogramVisualizer::updateFeatureHistogram (
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const pcl::PointCloud<PointT> &cloud, const std::string &field_name, const pcl::index_t index,
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const std::string &id)
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{
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if (index < 0 || index >= cloud.size ())
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{
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PCL_ERROR ("[updateFeatureHistogram] Invalid point index (%d) given!\n", index);
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return (false);
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}
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// Get the fields present in this cloud
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std::vector<pcl::PCLPointField> fields;
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// Check if our field exists
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int field_idx = pcl::getFieldIndex<PointT> (cloud, field_name, fields);
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if (field_idx == -1)
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{
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PCL_ERROR ("[updateFeatureHistogram] The specified field <%s> does not exist!\n", field_name.c_str ());
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return (false);
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}
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auto am_it = wins_.find (id);
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if (am_it == wins_.end ())
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{
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PCL_WARN ("[updateFeatureHistogram] A window with id <%s> does not exists!.\n", id.c_str ());
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return (false);
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}
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RenWinInteract* renwinupd = &wins_[id];
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vtkSmartPointer<vtkDoubleArray> xy_array = vtkSmartPointer<vtkDoubleArray>::New ();
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xy_array->SetNumberOfComponents (2);
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xy_array->SetNumberOfTuples (fields[field_idx].count);
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// Parse the cloud data and store it in the array
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double xy[2];
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for (std::uint32_t d = 0; d < fields[field_idx].count; ++d)
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{
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xy[0] = d;
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//xy[1] = cloud[index].histogram[d];
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float data;
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memcpy (&data, reinterpret_cast<const char*> (&cloud[index]) + fields[field_idx].offset + d * sizeof (float), sizeof (float));
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xy[1] = data;
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xy_array->SetTuple (d, xy);
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}
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reCreateActor (xy_array, renwinupd, cloud.fields[field_idx].count - 1);
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return (true);
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}
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} // namespace visualization
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} // namespace pcl
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#endif
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