Better viewer everywhere (PRBonn#61)

* Switch to convex hull visualization
* Use the newer viewer everywhere but in ROS related viewer

Author: niosus

examples/simple_nodes/CMakeLists.txt

@@ -6,7 +6,8 @@ target_link_libraries(show_objects_kitti
                       projections
                       ground_remove
                       folder_reader
-                      visualization
+                      viewer
+                      drawable
                       ${MY_QT_LIBRARIES}
                       ${Boost_LIBRARIES}
                       ${PCL_LIBRARIES}
@@ -20,7 +21,8 @@ target_link_libraries(show_objects_moosmann
                       projections
                       ground_remove
                       folder_reader
-                      visualization
+                      viewer
+                      drawable
                       ${MY_QT_LIBRARIES}
                       ${Boost_LIBRARIES}
                       ${PCL_LIBRARIES}

examples/simple_nodes/show_objects_kitti.cpp

@@ -25,12 +25,13 @@
 
 #include "ground_removal/depth_ground_remover.h"
 #include "projections/projection_params.h"
+#include "qt/drawables/drawable_cloud.h"
+#include "qt/drawables/object_painter.h"
 #include "utils/cloud.h"
 #include "utils/folder_reader.h"
 #include "utils/radians.h"
 #include "utils/timer.h"
 #include "utils/velodyne_utils.h"
-#include "visualization/visualizer.h"
 
 #include "tclap/CmdLine.h"
 
@@ -39,7 +40,7 @@ using std::string;
 using namespace depth_clustering;
 
 void ReadData(const Radians& angle_tollerance, const string& in_path,
-              Visualizer* visualizer) {
+              Viewer* visualizer) {
   // delay reading for one second to allow GUI to load
   std::this_thread::sleep_for(std::chrono::milliseconds(500));
   // now load the data
@@ -63,16 +64,20 @@ void ReadData(const Radians& angle_tollerance, const string& in_path,
       angle_tollerance, min_cluster_size, max_cluster_size);
   clusterer.SetDiffType(DiffFactory::DiffType::ANGLES);
 
+  ObjectPainter object_painter{visualizer,
+                               ObjectPainter::OutlineType::kPolygon3d};
+
   depth_ground_remover.AddClient(&clusterer);
-  clusterer.AddClient(visualizer->object_clouds_client());
+  clusterer.AddClient(&object_painter);
 
   fprintf(stderr, "INFO: everything initialized\n");
 
   for (auto path : cloud_reader.GetAllFilePaths()) {
     time_utils::Timer timer;
     auto cloud = ReadKittiCloud(path);
     cloud->InitProjection(*proj_params_ptr);
-    visualizer->OnNewObjectReceived(*cloud, 0);
+    visualizer->Clear();
+    visualizer->AddDrawable(DrawableCloud::FromCloud(cloud));
     depth_ground_remover.OnNewObjectReceived(*cloud, 0);
 
     uint max_wait_time = 100;
@@ -108,7 +113,7 @@ int main(int argc, char* argv[]) {
 
   QApplication application(argc, argv);
   // visualizer should be created from a gui thread
-  Visualizer visualizer;
+  Viewer visualizer;
   visualizer.show();
 
   // create and run loader thread

examples/simple_nodes/show_objects_moosmann.cpp

@@ -25,12 +25,14 @@
 
 #include "ground_removal/depth_ground_remover.h"
 #include "projections/projection_params.h"
+#include "qt/drawables/object_painter.h"
+#include "qt/drawables/drawable_cloud.h"
+#include "qt/viewer/viewer.h"
 #include "utils/cloud.h"
 #include "utils/folder_reader.h"
 #include "utils/radians.h"
 #include "utils/timer.h"
 #include "utils/velodyne_utils.h"
-#include "visualization/visualizer.h"
 
 #include "tclap/CmdLine.h"
 
@@ -40,7 +42,7 @@ using std::to_string;
 using namespace depth_clustering;
 
 void ReadData(const Radians& angle_tollerance, const string& in_path,
-              Visualizer* visualizer) {
+              Viewer* visualizer) {
   // delay reading for one second to allow GUI to load
   std::this_thread::sleep_for(std::chrono::milliseconds(500));
   // now load the data
@@ -65,14 +67,18 @@ void ReadData(const Radians& angle_tollerance, const string& in_path,
       angle_tollerance, min_cluster_size, max_cluster_size);
   clusterer.SetDiffType(DiffFactory::DiffType::ANGLES);
 
+  ObjectPainter object_painter{visualizer,
+                               ObjectPainter::OutlineType::kPolygon3d};
+
   depth_ground_remover.AddClient(&clusterer);
-  clusterer.AddClient(visualizer->object_clouds_client());
+  clusterer.AddClient(&object_painter);
 
   for (const auto& path : image_reader.GetAllFilePaths()) {
     auto depth_image = MatFromDepthPng(path);
     auto cloud_ptr = Cloud::FromImage(depth_image, *proj_params_ptr);
     time_utils::Timer timer;
-    visualizer->OnNewObjectReceived(*cloud_ptr, 0);
+    visualizer->Clear();
+    visualizer->AddDrawable(DrawableCloud::FromCloud(cloud_ptr));
     depth_ground_remover.OnNewObjectReceived(*cloud_ptr, 0);
     auto current_millis = timer.measure(time_utils::Timer::Units::Milli);
     fprintf(stderr, "INFO: It took %lu ms to process and show everything.\n",
@@ -108,7 +114,7 @@ int main(int argc, char* argv[]) {
 
   QApplication application(argc, argv);
   // visualizer should be created from a gui thread
-  Visualizer visualizer;
+  Viewer visualizer;
   visualizer.show();
 
   // create and run loader thread

src/clusterers/image_based_clusterer.h

@@ -88,7 +88,7 @@ class ImageBasedClusterer : public AbstractClusterer {
    * @param[in]  cloud      The cloud to cluster
    * @param[in]  sender_id  The sender identifier
    */
-  void OnNewObjectReceived(const Cloud& cloud, const int sender_id) override {
+  void OnNewObjectReceived(const Cloud& cloud, int) override {
     // generate a projection from a point cloud
     if (!cloud.projection_ptr()) {
       fprintf(stderr, "ERROR: projection not initialized in cloud.\n");

src/qt/drawables/CMakeLists.txt

@@ -1,6 +1,9 @@
 add_library(drawable SHARED
             drawable_cloud.cpp
+            object_painter.cpp
+            drawable_polygon3d.cpp
             drawable_cube.cpp)
 target_link_libraries(drawable
+                      ${OpenCV_LIBS}
                       ${OPENGL_gl_LIBRARY}
-                      ${OPENGL_glu_LIBRARY})
+                      ${OPENGL_glu_LIBRARY})

src/qt/drawables/bbox_painter.h

@@ -10,6 +10,7 @@
 class Drawable {
  public:
   using Ptr = std::shared_ptr<Drawable>;
+  using UniquePtr = std::unique_ptr<Drawable>;
   virtual void Draw() const = 0;
   virtual ~Drawable() {}
 };

src/qt/drawables/drawable.h

@@ -5,8 +5,12 @@
 #include "./drawable_cube.h"
 #include <GL/glut.h>
 
+namespace depth_clustering {
+
 void DrawableCube::Draw() const {
-  if (_scale.z() < 0.3) { return; }
+  if (_scale.z() < 0.3) {
+    return;
+  }
   glPushMatrix();
   glTranslatef(_center.x(), _center.y(), _center.z());
   glScalef(_scale.x(), _scale.y(), _scale.z());
@@ -53,3 +57,5 @@ void DrawableCube::Draw() const {
   glEnd();
   glPopMatrix();
 }
+
+}  // namespace depth_clustering

src/qt/drawables/drawable_cube.cpp

@@ -8,6 +8,9 @@
 #include <Eigen/Core>
 
 #include "qt/drawables/drawable.h"
+#include "utils/mem_utils.h"
+
+namespace depth_clustering {
 
 class DrawableCube : public Drawable {
  public:
@@ -16,10 +19,11 @@ class DrawableCube : public Drawable {
       : _center{center}, _scale{scale}, _color{color} {}
 
   void Draw() const override;
-  static DrawableCube::Ptr Create(
+  static DrawableCube::UniquePtr Create(
       const Eigen::Vector3f& center, const Eigen::Vector3f& scale,
       const Eigen::Vector3f& color = Eigen::Vector3f(1.0f, 0.5f, 0.2f)) {
-    return std::make_shared<DrawableCube>(DrawableCube(center, scale, color));
+    return mem_utils::make_unique<DrawableCube>(
+        DrawableCube(center, scale, color));
   }
 
   ~DrawableCube() override {}
@@ -30,4 +34,6 @@ class DrawableCube : public Drawable {
   Eigen::Vector3f _color;
 };
 
+}  // namespace depth_clustering
+
 #endif  // SRC_QT_DRAWABLES_DRAWABLE_CUBE_H_

src/qt/drawables/drawable_cube.h

@@ -0,0 +1,44 @@
+// Copyright Igor Bogoslavskyi, year 2017.
+// In case of any problems with the code please contact me.
+// Email: [email protected].
+
+#include "./drawable_polygon3d.h"
+#include <GL/glut.h>
+
+namespace depth_clustering {
+
+void DrawablePolygon3d::Draw() const {
+  if (polygon_.empty()) {
+    return;
+  }
+  glPushMatrix();
+  const auto start = polygon_.front();
+  glColor3f(color_[0], color_[1], color_[2]);
+  glLineWidth(4.0f);
+  glBegin(GL_LINE_STRIP);
+
+  // Bottom polygon
+  for (const auto& point : polygon_) {
+    glVertex3f(point.x(), point.y(), point.z());
+  }
+  glVertex3f(start.x(), start.y(), start.z());
+
+  // Top polygon
+  for (const auto& point : polygon_) {
+    glVertex3f(point.x(), point.y(), point.z() + height_);
+  }
+  glVertex3f(start.x(), start.y(), start.z() + height_);
+
+  glEnd();
+
+  glBegin(GL_LINES);
+  // For the Sides of the polygon
+  for (const auto& point : polygon_) {
+    glVertex3f(point.x(), point.y(), point.z());
+    glVertex3f(point.x(), point.y(), point.z() + height_);
+  }
+  glEnd();
+  glPopMatrix();
+}
+
+}  // namespace depth_clustering