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Replace concatenated mesh with vtkAssembly; use vtkSmartPointers inst…
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…ead of raw pointers for internal objects
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@marip8
marip8 committed Dec 13, 2023
1 parent f8d55b6 commit 728140e
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Showing 2 changed files with 38 additions and 70 deletions.
19 changes: 8 additions & 11 deletions noether_gui/include/noether_gui/widgets/tpp_widget.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,6 @@ class TPPWidget : public QWidget
Q_OBJECT
public:
TPPWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent = nullptr);
virtual ~TPPWidget();

/**
* @brief Get the planned tool paths
Expand All @@ -65,18 +64,16 @@ class TPPWidget : public QWidget

// Viewer rendering
QVTKWidget* render_widget_;
vtkRenderer* renderer_;
vtkPolyDataMapper* mesh_mapper_;
vtkActor* mesh_actor_;
vtkSmartPointer<vtkRenderer> renderer_;
vtkSmartPointer<vtkPolyDataMapper> mesh_mapper_;
vtkSmartPointer<vtkActor> mesh_actor_;

vtkPolyDataMapper* mesh_fragment_mapper_;
vtkActor* mesh_fragment_actor_;
vtkSmartPointer<vtkPolyData> combined_mesh_fragments_;
vtkSmartPointer<vtkAssembly> tool_path_actor_;
vtkSmartPointer<vtkAssembly> unmodified_tool_path_actor_;
vtkSmartPointer<vtkAssembly> mesh_fragment_actor_;

vtkAssembly* tool_path_actor_;
vtkAssembly* unmodified_tool_path_actor_;
vtkAxes* axes_;
vtkTubeFilter* tube_filter_;
vtkSmartPointer<vtkAxes> axes_;
vtkSmartPointer<vtkTubeFilter> tube_filter_;

std::vector<ToolPaths> tool_paths_;
};
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89 changes: 30 additions & 59 deletions noether_gui/src/widgets/tpp_widget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,16 +36,14 @@ TPPWidget::TPPWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent)
, ui_(new Ui::TPP())
, pipeline_widget_(new TPPPipelineWidget(std::move(loader), this))
, render_widget_(new QVTKWidget(this))
, renderer_(vtkOpenGLRenderer::New())
, mesh_mapper_(vtkOpenGLPolyDataMapper::New())
, mesh_actor_(vtkOpenGLActor::New())
, mesh_fragment_mapper_(vtkOpenGLPolyDataMapper::New())
, mesh_fragment_actor_(vtkOpenGLActor::New())
, combined_mesh_fragments_(vtkSmartPointer<vtkPolyData>::New())
, tool_path_actor_(vtkAssembly::New())
, unmodified_tool_path_actor_(vtkAssembly::New())
, axes_(vtkAxes::New())
, tube_filter_(vtkTubeFilter::New())
, renderer_(vtkSmartPointer<vtkOpenGLRenderer>::New())
, mesh_mapper_(vtkSmartPointer<vtkOpenGLPolyDataMapper>::New())
, mesh_actor_(vtkSmartPointer<vtkOpenGLActor>::New())
, mesh_fragment_actor_(vtkSmartPointer<vtkAssembly>::New())
, tool_path_actor_(vtkSmartPointer<vtkAssembly>::New())
, unmodified_tool_path_actor_(vtkSmartPointer<vtkAssembly>::New())
, axes_(vtkSmartPointer<vtkAxes>::New())
, tube_filter_(vtkSmartPointer<vtkTubeFilter>::New())
{
ui_->setupUi(this);

Expand All @@ -60,8 +58,6 @@ TPPWidget::TPPWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent)
renderer_->AddActor(mesh_actor_);

// Mesh fragment mapper/actor
mesh_fragment_mapper_->SetInputData(combined_mesh_fragments_);
mesh_fragment_actor_->SetMapper(mesh_fragment_mapper_);
renderer_->AddActor(mesh_fragment_actor_);

// Tool path axis display object
Expand Down Expand Up @@ -99,19 +95,6 @@ TPPWidget::TPPWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent)
});
}

TPPWidget::~TPPWidget()
{
renderer_->Delete();
mesh_mapper_->Delete();
mesh_actor_->Delete();
mesh_fragment_mapper_->Delete();
mesh_fragment_actor_->Delete();
tool_path_actor_->Delete();
unmodified_tool_path_actor_->Delete();
axes_->Delete();
tube_filter_->Delete();
}

void TPPWidget::onShowOriginalMesh(const bool checked)
{
mesh_actor_->SetVisibility(checked);
Expand Down Expand Up @@ -250,10 +233,10 @@ vtkSmartPointer<vtkTransform> toVTK(const Eigen::Isometry3d& mat)
return t;
}

vtkAssembly* createToolPathActors(const std::vector<ToolPaths>& tool_paths,
vtkAlgorithmOutput* waypoint_shape_output_port)
vtkSmartPointer<vtkAssembly> createToolPathActors(const std::vector<ToolPaths>& tool_paths,
vtkAlgorithmOutput* waypoint_shape_output_port)
{
auto assembly = vtkAssembly::New();
auto assembly = vtkSmartPointer<vtkAssembly>::New();
for (const ToolPaths& fragment : tool_paths)
{
for (const ToolPath& tool_path : fragment)
Expand Down Expand Up @@ -281,32 +264,24 @@ vtkAssembly* createToolPathActors(const std::vector<ToolPaths>& tool_paths,
return assembly;
}

/**
* @brief Corrected version of pcl::PolygonMesh::concatenate to support PCL versions before 1.12
*/
static bool concatenate(pcl::PolygonMesh& mesh1, const pcl::PolygonMesh& mesh2)
vtkSmartPointer<vtkAssembly> createMeshActors(const std::vector<pcl::PolygonMesh>& meshes)
{
// Compute point offset with mesh1 before modifying mesh1
const auto point_offset = mesh1.cloud.width * mesh1.cloud.height;

bool success = pcl::PCLPointCloud2::concatenate(mesh1.cloud, mesh2.cloud);
if (success == false)
auto assembly = vtkSmartPointer<vtkAssembly>::New();
for (const pcl::PolygonMesh& mesh : meshes)
{
return false;
vtkSmartPointer<vtkPolyData> mesh_poly_data = vtkSmartPointer<vtkPolyData>::New();
pcl::VTKUtils::mesh2vtk(mesh, mesh_poly_data);

auto map = vtkSmartPointer<vtkPolyDataMapper>::New();
map->SetInputData(mesh_poly_data);

auto actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(map);

assembly->AddPart(actor);
}
// Make the resultant polygon mesh take the newest stamp
mesh1.header.stamp = std::max(mesh1.header.stamp, mesh2.header.stamp);

std::transform(
mesh2.polygons.begin(), mesh2.polygons.end(), std::back_inserter(mesh1.polygons), [point_offset](auto polygon) {
std::transform(polygon.vertices.begin(),
polygon.vertices.end(),
polygon.vertices.begin(),
[point_offset](auto& point_idx) { return point_idx + point_offset; });
return polygon;
});

return true;

return assembly;
}

void TPPWidget::onPlan(const bool /*checked*/)
Expand All @@ -330,14 +305,11 @@ void TPPWidget::onPlan(const bool /*checked*/)

tool_paths_.clear();
tool_paths_.reserve(meshes.size());
pcl::PolygonMesh combined_mesh_fragments;
std::vector<ToolPaths> unmodified_tool_paths;
unmodified_tool_paths.reserve(meshes.size());

for (const pcl::PolygonMesh& mesh : meshes)
{
concatenate(combined_mesh_fragments, mesh);

// Plan the tool path
ToolPaths path = pipeline.planner->plan(mesh);

Expand All @@ -349,15 +321,15 @@ void TPPWidget::onPlan(const bool /*checked*/)

// Reset
{
pcl::VTKUtils::mesh2vtk(combined_mesh_fragments, combined_mesh_fragments_);
mesh_fragment_mapper_->Update();
mesh_fragment_mapper_->SetInputData(combined_mesh_fragments_);
renderer_->RemoveActor(mesh_fragment_actor_);
mesh_fragment_actor_ = createMeshActors(meshes);
renderer_->AddActor(mesh_fragment_actor_);
mesh_fragment_actor_->SetVisibility(ui_->check_box_show_modified_mesh->isChecked());
}

// Render the unmodified tool paths
{
renderer_->RemoveActor(unmodified_tool_path_actor_);
unmodified_tool_path_actor_->Delete();
unmodified_tool_path_actor_ = createToolPathActors(unmodified_tool_paths, tube_filter_->GetOutputPort());
renderer_->AddActor(unmodified_tool_path_actor_);
unmodified_tool_path_actor_->SetVisibility(ui_->check_box_show_original_tool_path->isChecked());
Expand All @@ -366,7 +338,6 @@ void TPPWidget::onPlan(const bool /*checked*/)
// Render the modified tool paths
{
renderer_->RemoveActor(tool_path_actor_);
tool_path_actor_->Delete();
tool_path_actor_ = createToolPathActors(tool_paths_, tube_filter_->GetOutputPort());
renderer_->AddActor(tool_path_actor_);
tool_path_actor_->SetVisibility(ui_->check_box_show_modified_tool_path->isChecked());
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