normals_actor_item.cpp

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#include <pcl/apps/modeler/normals_actor_item.h>

#include <pcl/apps/modeler/cloud_mesh.h>
#include <pcl/filters/filter_indices.h>

#include <vtkLODActor.h>
#include <vtkPolyData.h>
#include <vtkCellArray.h>
#include <vtkDataSetMapper.h>
#include <vtkPointData.h>

pcl::modeler::NormalsActorItem::NormalsActorItem(QTreeWidgetItem* parent,
                                               const boost::shared_ptr<CloudMesh>& cloud_mesh,
                                               const vtkSmartPointer<vtkRenderWindow>& render_window)
  :ChannelActorItem(parent, cloud_mesh, render_window, vtkSmartPointer<vtkLODActor>::New(), "Normals"),
  level_(10), scale_(0.1)
{
}

pcl::modeler::NormalsActorItem::~NormalsActorItem ()
{

}

void
pcl::modeler::NormalsActorItem::createNormalLines()
{
  vtkPoints* points = poly_data_->GetPoints();
  vtkCellArray* lines = poly_data_->GetLines();
  lines->Reset();

  CloudMesh::PointCloudConstPtr cloud = cloud_mesh_->getCloud();
  if (cloud->empty())
    return;

  if (points->GetData() == NULL)
    points->SetData(vtkSmartPointer<vtkFloatArray>::New ());

  vtkFloatArray* data = dynamic_cast<vtkFloatArray*>(points->GetData());
  data->SetNumberOfComponents (3);

  if (cloud->is_dense)
  {
    vtkIdType nr_normals = static_cast<vtkIdType> ((cloud->points.size () - 1) / level_ + 1);
    data->SetNumberOfValues(2*3*nr_normals);
    for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = static_cast<vtkIdType> (j * level_))
    {
      const CloudMesh::PointT& p = cloud->points[i];
      data->SetValue(2*j*3 + 0, p.x);
      data->SetValue(2*j*3 + 1, p.y);
      data->SetValue(2*j*3 + 2, p.z);
      data->SetValue(2*j*3 + 3, float (p.x + p.normal_x*scale_));
      data->SetValue(2*j*3 + 4, float (p.y + p.normal_y*scale_));
      data->SetValue(2*j*3 + 5, float (p.z + p.normal_z*scale_));

      lines->InsertNextCell(2);
      lines->InsertCellPoint(2*j);
      lines->InsertCellPoint(2*j + 1);
    }
  }
  else
  {
    pcl::IndicesPtr indices(new std::vector<int>());
    pcl::removeNaNFromPointCloud(*cloud, *indices);

    vtkIdType nr_normals = static_cast<vtkIdType> ((indices->size () - 1) / level_ + 1);
    data->SetNumberOfValues(2*3*nr_normals);
    for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = static_cast<vtkIdType> (j * level_))
    {
      const CloudMesh::PointT& p= cloud->points[(*indices)[i]];
      data->SetValue (2*j*3 + 0, p.x);
      data->SetValue (2*j*3 + 1, p.y);
      data->SetValue (2*j*3 + 2, p.z);
      data->SetValue (2*j*3 + 3, float (p.x + p.normal_x*scale_));
      data->SetValue (2*j*3 + 4, float (p.y + p.normal_y*scale_));
      data->SetValue (2*j*3 + 5, float (p.z + p.normal_z*scale_));

      lines->InsertNextCell(2);
      lines->InsertCellPoint(2*j);
      lines->InsertCellPoint(2*j + 1);
    }
  }

  return;
}

void
pcl::modeler::NormalsActorItem::initImpl()
{
  vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
  points->SetDataTypeToFloat ();
  vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();

  poly_data_->SetPoints(points);
  poly_data_->SetLines(lines);

  createNormalLines();

  vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
  mapper->SetInput(poly_data_);

  vtkSmartPointer<vtkDataArray> scalars;
  cloud_mesh_->getColorScalarsFromField(scalars, color_scheme_);
  poly_data_->GetPointData ()->SetScalars (scalars);
  double minmax[2];
  scalars->GetRange(minmax);
  mapper->SetScalarRange(minmax);

  mapper->SetColorModeToMapScalars();
  mapper->SetScalarModeToUsePointData();

  vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>(dynamic_cast<vtkLODActor*>(actor_.GetPointer()));
  actor->SetMapper(mapper);
}

void
pcl::modeler::NormalsActorItem::updateImpl()
{
  createNormalLines();

  vtkSmartPointer<vtkDataArray> scalars;
  cloud_mesh_->getColorScalarsFromField(scalars, color_scheme_);
  poly_data_->GetPointData ()->SetScalars (scalars);
  double minmax[2];
  scalars->GetRange(minmax);
  actor_->GetMapper()->SetScalarRange(minmax);

  poly_data_->Update();

  return;
}

void
pcl::modeler::NormalsActorItem::prepareContextMenu(QMenu* ) const
{

}

void
pcl::modeler::NormalsActorItem::prepareProperties(ParameterDialog* )
{

}

void
pcl::modeler::NormalsActorItem::setProperties()
{

}