Viewer for the in-hand scanner based on Qt and OpenGL. More...

#include <opengl_viewer.h>

Inheritance diagram for pcl::ihs::OpenGLViewer:

Classes
class	BoxCoefficients
	Coefficients for the wireframe box. More...
class	FPS
	Please have a look at the documentation of calcFPS. More...
Public Types
typedef pcl::PointCloud < PointXYZRGBNormal >	CloudXYZRGBNormal
typedef CloudXYZRGBNormal::ConstPtr	CloudXYZRGBNormalConstPtr
typedef CloudXYZRGBNormal::Ptr	CloudXYZRGBNormalPtr
enum	Coloring { COL_RGB, COL_ONE_COLOR, COL_VISCONF }
	How to color the shapes. More...
typedef enum pcl::ihs::OpenGLViewer::Coloring	Coloring
	How to color the shapes.
typedef pcl::ihs::Mesh	Mesh
typedef pcl::ihs::MeshConstPtr	MeshConstPtr
typedef pcl::ihs::MeshPtr	MeshPtr
enum	MeshRepresentation { MR_POINTS, MR_EDGES, MR_FACES }
	How to draw the mesh. More...
typedef enum pcl::ihs::OpenGLViewer::MeshRepresentation	MeshRepresentation
	How to draw the mesh.
typedef pcl::PointXYZRGBNormal	PointXYZRGBNormal
Public Slots
void	resetCamera ()
	Reset the virtual camera position and orientation.
void	setColoring (const Coloring &coloring)
	Set the coloring mode.
void	setMeshRepresentation (const MeshRepresentation &representation)
	Set the mesh representation.
void	timerCallback ()
	Requests the scene to be re-drawn (called periodically from a timer).
void	toggleColoring ()
	Toggle the coloring mode.
void	toggleMeshRepresentation ()
	Toggle the mesh representation.
Public Member Functions
bool	addMesh (const MeshConstPtr &mesh, const std::string &id, const Eigen::Isometry3d &T=Eigen::Isometry3d::Identity())
	Add a mesh to be drawn.
bool	addMesh (const CloudXYZRGBNormalConstPtr &cloud, const std::string &id, const Eigen::Isometry3d &T=Eigen::Isometry3d::Identity())
	Convert an organized cloud to a mesh and draw it.
bool	getDrawBox () const
	Check if the box is drawn.
virtual QSize	minimumSizeHint () const
	OpenGLViewer (QWidget *parent=0)
	Constructor.
void	removeAllMeshes ()
	Remove all meshes that are currently drawn.
bool	removeMesh (const std::string &id)
	Remove the mesh with the given id.
void	setBoxCoefficients (const BoxCoefficients &coeffs)
	Set the coefficients for the box.
void	setDrawBox (const bool enabled)
	Enable / disable drawing the box.
void	setPivot (const Eigen::Vector3d &pivot)
	Set the point around which the camera rotates during mouse navigation.
void	setPivot (const std::string &id)
	Searches the given id in the drawn meshes and calculates the pivot as the centroid of the found geometry.
void	setScalingFactor (const double scale)
	Set the scaling factor to convert from meters to the unit of the drawn files.
void	setVisibilityConfidenceNormalization (const float vis_conf_norm)
	The visibility confidence is normalized with this value (must be greater than 1).
virtual QSize	sizeHint () const
void	stopTimer ()
	Stop the visualization timer.
	~OpenGLViewer ()
	Destructor.
Protected Member Functions
template<class FPS >
void	calcFPS (FPS &fps) const
virtual void	paintEvent (QPaintEvent *event)
Private Types
typedef pcl::ihs::CloudIHS	CloudIHS
typedef pcl::ihs::CloudIHSConstPtr	CloudIHSConstPtr
typedef pcl::ihs::CloudIHSPtr	CloudIHSPtr
typedef boost::unordered_map < std::string, CloudXYZRGBNormalPtr >	CloudXYZRGBNormalMap
typedef Eigen::Matrix < unsigned char, 3, 1 >	Color
typedef Eigen::Matrix < unsigned char, 3, 256 >	Colormap
typedef Eigen::Matrix < unsigned char, 3, Eigen::Dynamic >	Colors
typedef pcl::ihs::detail::FaceVertexMesh	FaceVertexMesh
typedef boost::shared_ptr < const FaceVertexMesh >	FaceVertexMeshConstPtr
typedef boost::unordered_map < std::string, FaceVertexMeshPtr >	FaceVertexMeshMap
typedef boost::shared_ptr < FaceVertexMesh >	FaceVertexMeshPtr
typedef pcl::ihs::PointIHS	PointIHS
Private Member Functions
void	calcPivot ()
	Calculate the pivot for the stored id.
void	drawBox ()
	Draw a wireframe box.
void	drawMeshes ()
	Draw all meshes.
bool	getMeshIsAdded (const std::string &id)
	Check if the mesh with the given id is added.
void	initializeGL ()
void	mouseMoveEvent (QMouseEvent *event)
void	mousePressEvent (QMouseEvent *event)
void	resizeGL (int w, int h)
void	setupViewport (const int w, const int h)
void	wheelEvent (QWheelEvent *event)
Private Attributes
BoxCoefficients	box_coefficients_
	Coefficients of the drawn box.
Eigen::Vector3d	cam_pivot_
	Center of rotation during mouse navigation.
std::string	cam_pivot_id_
	Compute the pivot for the mesh with the given id.
Coloring	coloring_
	How to color the shapes.
Colormap	colormap_
	Colormap.
bool	draw_box_
	A box is drawn if this value is true.
FaceVertexMeshMap	drawn_meshes_
	Meshes stored for visualization.
MeshRepresentation	mesh_representation_
	How to draw the mesh.
bool	mouse_pressed_begin_
	Set to true right after the mouse got pressed and false if the mouse got moved.
boost::mutex	mutex_vis_
	Synchronization.
Eigen::Quaterniond	R_cam_
	Rotation of the camera.
double	scaling_factor_
	Scaling factor to convert from meters to the unit of the drawn files.
Eigen::Vector3d	t_cam_
	Translation of the camera.
boost::shared_ptr< QTimer >	timer_vis_
	Visualization timer.
float	vis_conf_norm_
	The visibility confidence is normalized with this value.
int	x_prev_
	Mouse x-position of the previous mouse move event.
int	y_prev_
	Mouse y-position of the previous mouse move event.

Detailed Description

Viewer for the in-hand scanner based on Qt and OpenGL.

Note:: Currently you have to derive from this class to use it. Implement the paintEvent: Call the paint event of this class and declare a QPainter.

Definition at line 107 of file opengl_viewer.h.

Member Typedef Documentation

typedef pcl::ihs::CloudIHS pcl::ihs::OpenGLViewer::CloudIHS [private]

Reimplemented in pcl::ihs::InHandScanner.

Definition at line 337 of file opengl_viewer.h.

typedef pcl::ihs::CloudIHSConstPtr pcl::ihs::OpenGLViewer::CloudIHSConstPtr [private]

Reimplemented in pcl::ihs::InHandScanner.

Definition at line 339 of file opengl_viewer.h.

typedef pcl::ihs::CloudIHSPtr pcl::ihs::OpenGLViewer::CloudIHSPtr [private]

Reimplemented in pcl::ihs::InHandScanner.

Definition at line 338 of file opengl_viewer.h.

typedef pcl::PointCloud<PointXYZRGBNormal> pcl::ihs::OpenGLViewer::CloudXYZRGBNormal

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 114 of file opengl_viewer.h.

typedef CloudXYZRGBNormal::ConstPtr pcl::ihs::OpenGLViewer::CloudXYZRGBNormalConstPtr

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 116 of file opengl_viewer.h.

typedef boost::unordered_map<std::string, CloudXYZRGBNormalPtr> pcl::ihs::OpenGLViewer::CloudXYZRGBNormalMap [private]

Definition at line 334 of file opengl_viewer.h.

typedef CloudXYZRGBNormal::Ptr pcl::ihs::OpenGLViewer::CloudXYZRGBNormalPtr

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 115 of file opengl_viewer.h.

typedef Eigen::Matrix<unsigned char, 3, 1 > pcl::ihs::OpenGLViewer::Color [private]

Definition at line 330 of file opengl_viewer.h.

typedef enum pcl::ihs::OpenGLViewer::Coloring pcl::ihs::OpenGLViewer::Coloring

How to color the shapes.

typedef Eigen::Matrix<unsigned char, 3, 256 > pcl::ihs::OpenGLViewer::Colormap [private]

Definition at line 332 of file opengl_viewer.h.

typedef Eigen::Matrix<unsigned char, 3, Eigen::Dynamic> pcl::ihs::OpenGLViewer::Colors [private]

Definition at line 331 of file opengl_viewer.h.

typedef pcl::ihs::detail::FaceVertexMesh pcl::ihs::OpenGLViewer::FaceVertexMesh [private]

Definition at line 341 of file opengl_viewer.h.

typedef boost::shared_ptr<const FaceVertexMesh> pcl::ihs::OpenGLViewer::FaceVertexMeshConstPtr [private]

Definition at line 343 of file opengl_viewer.h.

typedef boost::unordered_map<std::string, FaceVertexMeshPtr> pcl::ihs::OpenGLViewer::FaceVertexMeshMap [private]

Definition at line 344 of file opengl_viewer.h.

typedef boost::shared_ptr< FaceVertexMesh> pcl::ihs::OpenGLViewer::FaceVertexMeshPtr [private]

Definition at line 342 of file opengl_viewer.h.

typedef pcl::ihs::Mesh pcl::ihs::OpenGLViewer::Mesh

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 118 of file opengl_viewer.h.

typedef pcl::ihs::MeshConstPtr pcl::ihs::OpenGLViewer::MeshConstPtr

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 120 of file opengl_viewer.h.

typedef pcl::ihs::MeshPtr pcl::ihs::OpenGLViewer::MeshPtr

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 119 of file opengl_viewer.h.

typedef enum pcl::ihs::OpenGLViewer::MeshRepresentation pcl::ihs::OpenGLViewer::MeshRepresentation

How to draw the mesh.

typedef pcl::ihs::PointIHS pcl::ihs::OpenGLViewer::PointIHS [private]

Reimplemented in pcl::ihs::InHandScanner.

Definition at line 336 of file opengl_viewer.h.

typedef pcl::PointXYZRGBNormal pcl::ihs::OpenGLViewer::PointXYZRGBNormal

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 113 of file opengl_viewer.h.

Member Enumeration Documentation

enum pcl::ihs::OpenGLViewer::Coloring

How to color the shapes.

Enumerator:

COL_RGB	Coloring according to the rgb values.
COL_ONE_COLOR	Use one color for all points.
COL_VISCONF	Coloring according to the visibility confidence.

Definition at line 131 of file opengl_viewer.h.

enum pcl::ihs::OpenGLViewer::MeshRepresentation

How to draw the mesh.

Enumerator:

MR_POINTS	Draw the points.
MR_EDGES	Wireframe represen of the mesh.
MR_FACES	Draw the faces of the mesh without edges.

Definition at line 123 of file opengl_viewer.h.

Constructor & Destructor Documentation

pcl::ihs::OpenGLViewer::OpenGLViewer ( QWidget * parent = 0 ) [explicit]

Constructor.

Definition at line 108 of file opengl_viewer.cpp.

pcl::ihs::OpenGLViewer::~OpenGLViewer ( )

Destructor.

Definition at line 445 of file opengl_viewer.cpp.

Member Function Documentation

bool pcl::ihs::OpenGLViewer::addMesh	(	const MeshConstPtr &	mesh,
		const std::string &	id,
		const Eigen::Isometry3d &	T = `Eigen::Isometry3d::Identity ()`
	)

Add a mesh to be drawn.

Parameters:

[in]	mesh	The input mesh.
[in]	id	Unique identifier for the mesh. The internal mesh is replaced by the input mesh if the id already exists.
[in]	T	Transformation applied to the mesh. Defaults to an identity transformation.

Returns:: true if success.

Note:: Converts the mesh to the internal representation better suited for visualization. Therefore this method takes some time.

Definition at line 453 of file opengl_viewer.cpp.

bool pcl::ihs::OpenGLViewer::addMesh	(	const CloudXYZRGBNormalConstPtr &	cloud,
		const std::string &	id,
		const Eigen::Isometry3d &	T = `Eigen::Isometry3d::Identity ()`
	)

Convert an organized cloud to a mesh and draw it.

Parameters:

[in]	cloud	Organized input cloud.
[in]	id	Unique identifier for the mesh. The internal mesh is replaced by the converted input mesh if the id already exists.
[in]	T	Transformation applied to the mesh. Defaults to an identity transformation.

Returns:: true if success.

Note:: This method takes some time for the conversion).

Definition at line 474 of file opengl_viewer.cpp.

template<class FPS >

void pcl::ihs::OpenGLViewer::calcFPS ( FPS & fps ) const [inline, protected]

Measures the performance of the current thread (selected by passing the corresponding 'fps' helper object). The resulting value is stored in the fps object.

Definition at line 308 of file opengl_viewer.h.

void pcl::ihs::OpenGLViewer::calcPivot ( ) [private]

Calculate the pivot for the stored id.

Definition at line 867 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::drawBox ( ) [private]

Draw a wireframe box.

Definition at line 979 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::drawMeshes ( ) [private]

Draw all meshes.

Note:: Only triangle meshes are currently supported.

Definition at line 888 of file opengl_viewer.cpp.

bool pcl::ihs::OpenGLViewer::getDrawBox ( ) const

Check if the box is drawn.

Definition at line 625 of file opengl_viewer.cpp.

bool pcl::ihs::OpenGLViewer::getMeshIsAdded ( const std::string & id ) [private]

Check if the mesh with the given id is added.

Note:: Must lock the mutex before calling this method.

Definition at line 858 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::initializeGL ( ) [private]

See also:: http://doc.qt.digia.com/qt/qglwidget.html#initializeGL

Definition at line 1039 of file opengl_viewer.cpp.

QSize pcl::ihs::OpenGLViewer::minimumSizeHint ( ) const [virtual]

See also:: http://doc.qt.digia.com/qt/qwidget.html#minimumSizeHint-prop

Definition at line 673 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::mouseMoveEvent ( QMouseEvent * event ) [private]

See also:: http://doc.qt.digia.com/qt/qwidget.html#mouseMoveEvent

Definition at line 1091 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::mousePressEvent ( QMouseEvent * event ) [private]

See also:: http://doc.qt.digia.com/qt/qwidget.html#mousePressEvent

Definition at line 1082 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::paintEvent ( QPaintEvent * event ) [protected, virtual]

See also:: http://doc.qt.digia.com/qt/qwidget.html#paintEvent; http://doc.qt.digia.com/qt/opengl-overpainting.html

Reimplemented in pcl::ihs::InHandScanner, and pcl::ihs::OfflineIntegration.

Definition at line 780 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::removeAllMeshes ( )

Remove all meshes that are currently drawn.

Definition at line 598 of file opengl_viewer.cpp.

bool pcl::ihs::OpenGLViewer::removeMesh ( const std::string & id )

Remove the mesh with the given id.

Parameters:

[in] id Identifier of the mesh (results in a failure if the id does not exist).

Returns:: true if success.

Definition at line 585 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::resetCamera ( ) [slot]

Reset the virtual camera position and orientation.

Definition at line 706 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::resizeGL	(	int	w,
		int	h
	)		`[private]`

See also:: http://doc.qt.digia.com/qt/qglwidget.html#resizeGL

Definition at line 1074 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setBoxCoefficients ( const BoxCoefficients & coeffs )

Set the coefficients for the box.

Definition at line 607 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setColoring ( const Coloring & coloring ) [slot]

Set the coloring mode.

Definition at line 763 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setDrawBox ( const bool enabled )

Enable / disable drawing the box.

Definition at line 616 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setMeshRepresentation ( const MeshRepresentation & representation ) [slot]

Set the mesh representation.

Definition at line 731 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setPivot ( const Eigen::Vector3d & pivot )

Set the point around which the camera rotates during mouse navigation.

Definition at line 633 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setPivot ( const std::string & id )

Searches the given id in the drawn meshes and calculates the pivot as the centroid of the found geometry.

Note:: Returns immediately and computes the pivot in another thread.

Definition at line 642 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setScalingFactor ( const double scale )

Set the scaling factor to convert from meters to the unit of the drawn files.

Definition at line 689 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setupViewport	(	const int	w,
		const int	h
	)		`[private]`

See also:: http://www.opengl.org/sdk/docs/man/xhtml/glViewport.xml

Definition at line 1046 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::setVisibilityConfidenceNormalization ( const float vis_conf_norm )

The visibility confidence is normalized with this value (must be greater than 1).

Definition at line 663 of file opengl_viewer.cpp.

QSize pcl::ihs::OpenGLViewer::sizeHint ( ) const [virtual]

See also:: http://doc.qt.digia.com/qt/qwidget.html#sizeHint-prop

Definition at line 681 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::stopTimer ( )

Stop the visualization timer.

Definition at line 651 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::timerCallback ( ) [slot]

Requests the scene to be re-drawn (called periodically from a timer).

Definition at line 698 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::toggleColoring ( ) [slot]

Toggle the coloring mode.

Definition at line 749 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::toggleMeshRepresentation ( ) [slot]

Toggle the mesh representation.

Definition at line 717 of file opengl_viewer.cpp.

void pcl::ihs::OpenGLViewer::wheelEvent ( QWheelEvent * event ) [private]

See also:: http://doc.qt.digia.com/qt/qwidget.html#wheelEvent

Definition at line 1144 of file opengl_viewer.cpp.

Member Data Documentation

BoxCoefficients pcl::ihs::OpenGLViewer::box_coefficients_ [private]

Coefficients of the drawn box.

Definition at line 419 of file opengl_viewer.h.

Eigen::Vector3d pcl::ihs::OpenGLViewer::cam_pivot_ [private]

Center of rotation during mouse navigation.

Definition at line 431 of file opengl_viewer.h.

std::string pcl::ihs::OpenGLViewer::cam_pivot_id_ [private]

Compute the pivot for the mesh with the given id.

Definition at line 434 of file opengl_viewer.h.

Coloring pcl::ihs::OpenGLViewer::coloring_ [private]

How to color the shapes.

Definition at line 413 of file opengl_viewer.h.

Colormap pcl::ihs::OpenGLViewer::colormap_ [private]

Colormap.

Definition at line 401 of file opengl_viewer.h.

bool pcl::ihs::OpenGLViewer::draw_box_ [private]

A box is drawn if this value is true.

Definition at line 416 of file opengl_viewer.h.

FaceVertexMeshMap pcl::ihs::OpenGLViewer::drawn_meshes_ [private]

Meshes stored for visualization.

Definition at line 407 of file opengl_viewer.h.

MeshRepresentation pcl::ihs::OpenGLViewer::mesh_representation_ [private]

How to draw the mesh.

Definition at line 410 of file opengl_viewer.h.

bool pcl::ihs::OpenGLViewer::mouse_pressed_begin_ [private]

Set to true right after the mouse got pressed and false if the mouse got moved.

Definition at line 437 of file opengl_viewer.h.

boost::mutex pcl::ihs::OpenGLViewer::mutex_vis_ [private]

Synchronization.

Definition at line 395 of file opengl_viewer.h.

Eigen::Quaterniond pcl::ihs::OpenGLViewer::R_cam_ [private]

Rotation of the camera.

Definition at line 425 of file opengl_viewer.h.

double pcl::ihs::OpenGLViewer::scaling_factor_ [private]

Scaling factor to convert from meters to the unit of the drawn files.

Definition at line 422 of file opengl_viewer.h.

Eigen::Vector3d pcl::ihs::OpenGLViewer::t_cam_ [private]

Translation of the camera.

Definition at line 428 of file opengl_viewer.h.

boost::shared_ptr<QTimer> pcl::ihs::OpenGLViewer::timer_vis_ [private]

Visualization timer.

Definition at line 398 of file opengl_viewer.h.

float pcl::ihs::OpenGLViewer::vis_conf_norm_ [private]

The visibility confidence is normalized with this value.

Definition at line 404 of file opengl_viewer.h.

int pcl::ihs::OpenGLViewer::x_prev_ [private]

Mouse x-position of the previous mouse move event.

Definition at line 440 of file opengl_viewer.h.

int pcl::ihs::OpenGLViewer::y_prev_ [private]

Mouse y-position of the previous mouse move event.

Definition at line 443 of file opengl_viewer.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Slots

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation