104 lines
3.2 KiB
C++
104 lines
3.2 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "util/pc_viewer.h"
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// #include <pcl/common/common_headers.h>
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#include <cmath>
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#include "mynteye/logger.h"
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std::shared_ptr<pcl::visualization::PCLVisualizer> CustomColorVis(
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pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc) {
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// --------------------------------------------
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// -----Open 3D viewer and add point cloud-----
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// --------------------------------------------
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std::shared_ptr<pcl::visualization::PCLVisualizer> viewer(
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new pcl::visualization::PCLVisualizer("PointCloud Viewer"));
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viewer->setBackgroundColor(0, 0, 0);
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pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(
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pc, 255, 255, 255);
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viewer->addPointCloud<pcl::PointXYZ>(pc, single_color, "point cloud");
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viewer->setPointCloudRenderingProperties(
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pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "point cloud");
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// viewer->addCoordinateSystem(1.0);
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viewer->addCoordinateSystem(1000.0);
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viewer->initCameraParameters();
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viewer->setCameraPosition(0, 0, -150, 0, -1, 0);
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return (viewer);
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}
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PCViewer::PCViewer() : viewer_(nullptr) {
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VLOG(2) << __func__;
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}
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PCViewer::~PCViewer() {
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VLOG(2) << __func__;
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if (viewer_) {
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// viewer_->saveCameraParameters("pcl_camera_params.txt");
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viewer_->close();
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viewer_ == nullptr;
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}
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}
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void PCViewer::Update(const cv::Mat &xyz) {
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pcl::PointCloud<pcl::PointXYZ>::Ptr pc(new pcl::PointCloud<pcl::PointXYZ>);
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ConvertMatToPointCloud(xyz, pc);
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Update(pc);
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}
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void PCViewer::Update(pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc) {
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if (viewer_ == nullptr) {
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viewer_ = CustomColorVis(pc);
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}
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viewer_->updatePointCloud(pc, "point cloud");
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viewer_->spinOnce();
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}
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bool PCViewer::WasVisual() const {
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return viewer_ != nullptr;
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}
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bool PCViewer::WasStopped() const {
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return viewer_ != nullptr && viewer_->wasStopped();
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}
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void PCViewer::ConvertMatToPointCloud(
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const cv::Mat &xyz, pcl::PointCloud<pcl::PointXYZ>::Ptr pc) {
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// cv::Mat channels[3];
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// cv::split(xyz, channels);
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// double min, max;
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// cv::minMaxLoc(channels[2], &min, &max);
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for (int i = 0; i < xyz.rows; i++) {
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for (int j = 0; j < xyz.cols; j++) {
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auto &&p = xyz.at<cv::Point3f>(i, j);
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if (std::abs(p.z) > 9999) continue;
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if (std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z)) {
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// LOG(INFO) << "[" << i << "," << j << "] x: " << p.x << ", y: " << p.y
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// << ", z: " << p.z;
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pcl::PointXYZ point;
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point.x = p.x;
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point.y = p.y;
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point.z = p.z;
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// point.z = p.z - min;
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pc->points.push_back(point);
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}
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}
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}
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pc->width = static_cast<int>(pc->points.size());
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pc->height = 1;
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}
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