showPlane implementation

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -33,6 +33,8 @@ namespace temp_viz
         bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
         
         void showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
+        void showPlane(const String &id, const Vec4f &coefs);
+        void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt);
 
         bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
         bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");

modules/viz/src/q/viz3d_impl.hpp

@@ -139,6 +139,8 @@ public:
     }
     
     void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color);
+    void showPlane (const String &id, const cv::Vec4f &coefs);
+    void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt);
 
     bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
     bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow");
@@ -178,28 +180,6 @@ public:
           */
     bool addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cylinder");
 
-    /** \brief Add a plane from a set of given model coefficients
-          * \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
-          * \param[in] id the plane id/name (default: "plane")
-          *
-          * \code
-          * // The following are given (or computed using sample consensus techniques)
-          * // See SampleConsensusModelPlane for more information
-
-          *
-          * temp_viz::ModelCoefficients plane_coeff;
-          * plane_coeff.values.resize (4);    // We need 4 values
-          * plane_coeff.values[0] = plane_parameters.x ();
-          * plane_coeff.values[1] = plane_parameters.y ();
-          * plane_coeff.values[2] = plane_parameters.z ();
-          * plane_coeff.values[3] = plane_parameters.w ();
-          *
-          * addPlane (plane_coeff);
-          * \endcode
-          */
-    bool addPlane (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "plane");
-    bool addPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z, const std::string &id = "plane");
-
     /** \brief Add a circle from a set of given model coefficients
           * \param[in] coefficients the model coefficients (x, y, radius)
           * \param[in] id the circle id/name (default: "circle")

modules/viz/src/viz3d.cpp

@@ -83,14 +83,14 @@ void temp_viz::Viz3d::showLine(const String &id, const Point3f &pt1, const Point
     impl_->showLine(id, pt1, pt2, color);
 }
 
-bool temp_viz::Viz3d::addPlane (const ModelCoefficients &coefficients, const String &id)
+void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs)
 {
-    return impl_->addPlane(coefficients, id);
+    impl_->showPlane(id, coefs);
 }
 
-bool temp_viz::Viz3d::addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String& id)
+void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Point3f &pt)
 {
-    return impl_->addPlane(coefficients, x, y, z, id);
+    impl_->showPlane(id, coefs, pt);
 }
 
 bool temp_viz::Viz3d::removeCoordinateSystem (const String &id)

modules/viz/src/viz3d_impl.cpp

@@ -302,6 +302,69 @@ void temp_viz::Viz3d::VizImpl::showLine (const String &id, const cv::Point3f &pt
     }
 }
 
+void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coefs)
+{
+    // Check if this Id already exists
+    ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
+    bool exists = (am_it != shape_actor_map_->end());
+    
+    // If it exists just update
+    if (exists)
+    {
+        vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
+        reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs));
+        actor->Modified ();
+    }
+    else
+    {
+        // Create a plane
+        vtkSmartPointer<vtkDataSet> data = createPlane (coefs);
+
+        // Create an Actor
+        vtkSmartPointer<vtkLODActor> actor;
+        createActorFromVTKDataSet (data, actor);
+        //  actor->GetProperty ()->SetRepresentationToWireframe ();
+        actor->GetProperty ()->SetRepresentationToSurface ();
+        actor->GetProperty ()->SetLighting (false);
+        renderer_->AddActor(actor);
+
+        // Save the pointer/ID pair to the global actor map
+        (*shape_actor_map_)[id] = actor;
+    }
+}
+
+void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt)
+{
+    // Check if this Id already exists
+    ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
+    bool exists = (am_it != shape_actor_map_->end());
+    
+    // If it exists just update
+    if (exists)
+    {
+        vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
+        reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs, pt));
+        actor->Modified ();
+    }
+    else
+    {
+        // Create a plane
+        vtkSmartPointer<vtkDataSet> data = createPlane (coefs, pt);
+
+        // Create an Actor
+        vtkSmartPointer<vtkLODActor> actor;
+        createActorFromVTKDataSet (data, actor);
+        //  actor->GetProperty ()->SetRepresentationToWireframe ();
+        actor->GetProperty ()->SetRepresentationToSurface ();
+        actor->GetProperty ()->SetLighting (false);
+        renderer_->AddActor(actor);
+
+        // Save the pointer/ID pair to the global actor map
+        (*shape_actor_map_)[id] = actor;
+    }
+}
+
+
 bool temp_viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
 {
     CV_Assert(mesh.cloud.type() == CV_32FC3 && mesh.cloud.rows == 1 && !mesh.polygons.empty ());

modules/viz/src/viz_main.cpp

@@ -1088,62 +1088,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
     return (true);
 }
 
-
-////////////////////////////////////////////////////////////////////////////////////////////
-/** \brief Add a plane from a set of given model coefficients
-  * \param coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
-  * \param id the plane id/name (default: "plane")
-  * \param viewport (optional) the id of the new viewport (default: 0)
-  */
-bool temp_viz::Viz3d::VizImpl::addPlane (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
-{
-    // Check to see if this ID entry already exists (has it been already added to the visualizer?)
-    ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
-    if (am_it != shape_actor_map_->end ())
-    {
-        std::cout << "[addPlane] A shape with id <"<<id<<"> already exists! Please choose a different id and retry." << std::endl;
-        return (false);
-    }
-
-    vtkSmartPointer<vtkDataSet> data = createPlane (coefficients);
-
-    // Create an Actor
-    vtkSmartPointer<vtkLODActor> actor;
-    createActorFromVTKDataSet (data, actor);
-    //  actor->GetProperty ()->SetRepresentationToWireframe ();
-    actor->GetProperty ()->SetRepresentationToSurface ();
-    actor->GetProperty ()->SetLighting (false);
-    renderer_->AddActor(actor);
-
-    // Save the pointer/ID pair to the global actor map
-    (*shape_actor_map_)[id] = actor;
-    return (true);
-}
-
-bool temp_viz::Viz3d::VizImpl::addPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z, const std::string &id)
-{
-    // Check to see if this ID entry already exists (has it been already added to the visualizer?)
-    ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
-    if (am_it != shape_actor_map_->end ())
-    {
-        std::cout << "[addPlane] A shape with id <" << id << "> already exists! Please choose a different id and retry.\n" << std::endl;
-        return (false);
-    }
-
-    vtkSmartPointer<vtkDataSet> data = createPlane (coefficients, x, y, z);
-
-    // Create an Actor
-    vtkSmartPointer<vtkLODActor> actor;
-    createActorFromVTKDataSet (data, actor);
-    actor->GetProperty ()->SetRepresentationToWireframe ();
-    actor->GetProperty ()->SetLighting (false);
-    renderer_->AddActor(actor);
-
-    // Save the pointer/ID pair to the global actor map
-    (*shape_actor_map_)[id] = actor;
-    return (true);
-}
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 bool temp_viz::Viz3d::VizImpl::addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
 {

modules/viz/test/test_viz3d.cpp

@@ -93,19 +93,25 @@ TEST(Viz_viz3d, accuracy)
     int col_green = 0;
     int col_red = 0;
     
+    v.showPlane("plane1", cv::Vec4f(1.0f,1.0f,1.0f,1.0f));
+    
     while(!v.wasStopped())
     {
         // Creating new point cloud with id cloud1
         cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
         v.showPointCloud("cloud1", cloud, temp_viz::Color(col_blue, col_green, col_red), cloudPosition);
         v.showLine("line1", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
-
+        v.showLine("line2", cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0f-pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
+        v.showLine("line3", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, 1.0f-pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
+        v.showLine("line4", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, 1.0f-pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
+        v.showPlane("plane1", cv::Vec4f(pos_x*pos_y,pos_y,pos_z,pos_x+pos_y*pos_z));
+        
         angle_x += 0.1f;
         angle_y -= 0.1f;
         angle_z += 0.1f;
         pos_x = std::sin(angle_x);
-        pos_y = std::sin(angle_x);
-        pos_z = std::sin(angle_x);
+        pos_y = std::sin(angle_y);
+        pos_z = std::sin(angle_z);
         col_blue = int(angle_x * 10) % 256;
         col_green = int(angle_x * 20) % 256;
         col_red = int(angle_x * 30) % 256;