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Added tool to noether that allows user to toggle visibility of applie…
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…d tool path and mesh modifiers
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@DavidSpielman
DavidSpielman committed Nov 15, 2023
1 parent 6b197af commit 78ac563
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Showing 5 changed files with 274 additions and 57 deletions.
22 changes: 21 additions & 1 deletion 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 @@ -2,6 +2,8 @@

#include <noether_tpp/core/types.h>
#include <QWidget>
#include <QCheckBox>
#include <vtkSmartPointer.h>

class QVTKWidget;
class vtkActor;
Expand All @@ -10,6 +12,8 @@ class vtkProp;
class vtkRenderer;
class vtkAxes;
class vtkTubeFilter;
class vtkAssembly;
class vtkPolyData;

namespace boost_plugin_loader
{
Expand Down Expand Up @@ -47,11 +51,19 @@ class TPPWidget : public QWidget
void setMeshFile(const QString& file);
void setConfigurationFile(const QString& file);

//private slots:
// void onShowOriginalMesh(const bool /*checked*/);


private:
void onLoadMesh(const bool /*checked*/);
void onLoadConfiguration(const bool /*checked*/);
void onSaveConfiguration(const bool /*checked*/);
void onPlan(const bool /*checked*/);
void onShowOriginalMesh(const bool);
void onShowModifiedMesh(const bool);
void onShowUnmodifiedToolPath(const bool);
void onShowModifiedToolPath(const bool);

Ui::TPP* ui_;
TPPPipelineWidget* pipeline_widget_;
Expand All @@ -61,11 +73,19 @@ class TPPWidget : public QWidget
vtkRenderer* renderer_;
vtkPolyDataMapper* mesh_mapper_;
vtkActor* mesh_actor_;
std::vector<vtkProp*> tool_path_actors_;

vtkPolyDataMapper* mesh_fragment_mapper_;
vtkActor* mesh_fragment_actor_;
vtkSmartPointer<vtkPolyData> combined_mesh_fragments_;

vtkAssembly* tool_path_actor_;
vtkAssembly* unmodified_tool_path_actor_;
vtkAxes* axes_;
vtkTubeFilter* tube_filter_;

std::vector<ToolPaths> tool_paths_;
// QPushButton *push_button_show_original_mesh;

};

} // namespace noether
210 changes: 179 additions & 31 deletions noether_gui/src/widgets/tpp_widget.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#include <noether_gui/widgets/tpp_widget.h>
#include <noether_gui/widgets/tpp_widget.h>
#include "ui_tpp_widget.h"
#include <noether_gui/widgets/tpp_pipeline_widget.h>
#include <noether_gui/utils.h>
Expand All @@ -11,10 +11,12 @@
#include <QStandardPaths>
#include <QTextStream>
#include <yaml-cpp/yaml.h>
#include <pcl/io/ply_io.h>

// Rendering includes
#include <QVTKWidget.h>
#include <vtkAxesActor.h>
#include <vtkAssembly.h>
#include <vtkOpenGLPolyDataMapper.h>
#include <vtkOpenGLActor.h>
#include <vtkOpenGLRenderer.h>
Expand All @@ -26,6 +28,10 @@
#include <vtkTransformFilter.h>
#include <vtkTransform.h>
#include <vtkTubeFilter.h>
#include <pcl/surface/vtk_smoothing/vtk_utils.h>


#include <vtkProp3DCollection.h>

namespace noether
{
Expand All @@ -37,6 +43,11 @@ TPPWidget::TPPWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent)
, 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())
{
Expand All @@ -46,9 +57,18 @@ TPPWidget::TPPWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent)
ui_->splitter->addWidget(render_widget_);

// Set up the VTK objects
renderer_->SetBackground(0.2, 0.2, 0.2);

// Original mesh mapper/actor
mesh_actor_->SetMapper(mesh_mapper_);
renderer_->AddActor(mesh_actor_);
renderer_->SetBackground(0.2, 0.2, 0.2);

// 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
axes_->SetScaleFactor(ui_->double_spin_box_axis_size->value());
tube_filter_->SetInputConnection(axes_->GetOutputPort());
tube_filter_->SetRadius(axes_->GetScaleFactor() / 10.0);
Expand All @@ -60,10 +80,20 @@ TPPWidget::TPPWidget(boost_plugin_loader::PluginLoader loader, QWidget* parent)
render_widget_->GetInteractor()->SetInteractorStyle(vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New());
render_widget_->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);

// Set visibility of the actors based on the default state of the check boxes
mesh_actor_->SetVisibility(ui_->check_box_show_original_mesh->isChecked());
mesh_fragment_actor_->SetVisibility(ui_->check_box_show_modified_mesh->isChecked());
unmodified_tool_path_actor_->SetVisibility(ui_->check_box_show_original_tool_path->isChecked());
tool_path_actor_->SetVisibility(ui_->check_box_show_modified_tool_path->isChecked());

// Connect signals
connect(ui_->push_button_load_mesh, &QPushButton::clicked, this, &TPPWidget::onLoadMesh);
connect(ui_->push_button_load_configuration, &QPushButton::clicked, this, &TPPWidget::onLoadConfiguration);
connect(ui_->push_button_save_configuration, &QPushButton::clicked, this, &TPPWidget::onSaveConfiguration);
connect(ui_->check_box_show_original_mesh, &QCheckBox::clicked, this, &TPPWidget::onShowOriginalMesh);
connect(ui_->check_box_show_modified_mesh, &QCheckBox::clicked, this, &TPPWidget::onShowModifiedMesh);
connect(ui_->check_box_show_original_tool_path, &QCheckBox::clicked, this, &TPPWidget::onShowUnmodifiedToolPath);
connect(ui_->check_box_show_modified_tool_path, &QCheckBox::clicked, this, &TPPWidget::onShowModifiedToolPath);
connect(ui_->push_button_plan, &QPushButton::clicked, this, &TPPWidget::onPlan);
connect(ui_->double_spin_box_axis_size, &QDoubleSpinBox::editingFinished, this, [this]() {
axes_->SetScaleFactor(ui_->double_spin_box_axis_size->value());
Expand All @@ -78,10 +108,42 @@ 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);
render_widget_->GetRenderWindow()->Render();
render_widget_->GetRenderWindow()->Render();
}

void TPPWidget::onShowModifiedMesh(const bool checked)
{
mesh_fragment_actor_->SetVisibility(checked);
render_widget_->GetRenderWindow()->Render();
render_widget_->GetRenderWindow()->Render();
}

void TPPWidget::onShowUnmodifiedToolPath(const bool checked)
{
unmodified_tool_path_actor_->SetVisibility(checked);
render_widget_->GetRenderWindow()->Render();
render_widget_->GetRenderWindow()->Render();
}

void TPPWidget::onShowModifiedToolPath(const bool checked)
{
tool_path_actor_->SetVisibility(checked);
render_widget_->GetRenderWindow()->Render();
render_widget_->GetRenderWindow()->Render();
}

std::vector<ToolPaths> TPPWidget::getToolPaths() { return tool_paths_; }

void TPPWidget::setMeshFile(const QString& file)
Expand Down Expand Up @@ -192,6 +254,69 @@ vtkSmartPointer<vtkTransform> toVTK(const Eigen::Isometry3d& mat)
return t;
}

vtkAssembly* createToolPathActors(const std::vector<ToolPaths>& tool_paths,
vtkAlgorithmOutput* waypoint_shape_output_port)
{
auto assembly = vtkAssembly::New();
for (const ToolPaths& fragment : tool_paths)
{
for (const ToolPath& tool_path : fragment)
{
for (const ToolPathSegment& segment : tool_path)
{
for (const Eigen::Isometry3d& w : segment)
{
auto transform_filter = vtkSmartPointer<vtkTransformFilter>::New();
transform_filter->SetTransform(toVTK(w));
transform_filter->SetInputConnection(waypoint_shape_output_port);

auto map = vtkSmartPointer<vtkPolyDataMapper>::New();
map->SetInputConnection(transform_filter->GetOutputPort());

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

assembly->AddPart(actor);
}
}
}
}

return assembly;
}

// Function to combine two pcl::PolygonMesh instances
pcl::PolygonMesh combineMeshes(const pcl::PolygonMesh& mesh1, const pcl::PolygonMesh& mesh2) {
pcl::PolygonMesh combinedMesh;

// Combine vertices
pcl::PointCloud<pcl::PointXYZ> combinedCloud;
pcl::fromPCLPointCloud2(mesh1.cloud, combinedCloud);
pcl::PointCloud<pcl::PointXYZ> cloud2;
pcl::fromPCLPointCloud2(mesh2.cloud, cloud2);

combinedCloud += cloud2;

pcl::toPCLPointCloud2(combinedCloud, combinedMesh.cloud);

// Combine faces
// Add faces for mesh 1
combinedMesh.polygons.insert(
combinedMesh.polygons.end(), mesh1.polygons.begin(), mesh1.polygons.end());

// Offset the indices of the second mesh's faces to account for the combined vertices
size_t offset = mesh1.cloud.width * mesh1.cloud.height;
for (auto& polygon : mesh2.polygons) {
pcl::Vertices newPolygon;
for (auto index : polygon.vertices) {
newPolygon.vertices.push_back(index + offset);
}
combinedMesh.polygons.push_back(newPolygon);
}

return combinedMesh;
}

void TPPWidget::onPlan(const bool /*checked*/)
{
try
Expand All @@ -201,48 +326,71 @@ void TPPWidget::onPlan(const bool /*checked*/)
throw std::runtime_error("No mesh file selected");

// Load the mesh
pcl::PolygonMesh mesh;
if (pcl::io::loadPolygonFile(mesh_file, mesh) < 1)
pcl::PolygonMesh full_mesh;
if (pcl::io::loadPolygonFile(mesh_file, full_mesh) < 1)
throw std::runtime_error("Failed to load mesh from file");

const ToolPathPlannerPipeline pipeline = pipeline_widget_->createPipeline();
QApplication::setOverrideCursor(Qt::WaitCursor);
tool_paths_ = pipeline.plan(mesh);
QApplication::restoreOverrideCursor();

// Render the tool paths
std::for_each(tool_path_actors_.begin(), tool_path_actors_.end(), [this](vtkProp* actor) {
renderer_->RemoveActor(actor);
actor->Delete();
});
tool_path_actors_.clear();
// Run the mesh modifier
std::vector<pcl::PolygonMesh> meshes = pipeline.mesh_modifier->modify(full_mesh);

tool_paths_.clear();
tool_paths_.reserve(meshes.size());

for (const ToolPaths& fragment : tool_paths_)
pcl::PolygonMesh combined_mesh_fragments;
std::vector<ToolPaths> unmodified_tool_paths;
std::string file_name = "/tmp/comb_frag_mesh_test";
for(std::size_t i = 0; i < meshes.size(); ++i)
{
for (const ToolPath& tool_path : fragment)
const pcl::PolygonMesh& mesh = meshes[i];
if (i == 0)
{
for (const ToolPathSegment& segment : tool_path)
{
for (const Eigen::Isometry3d& w : segment)
{
auto transform_filter = vtkSmartPointer<vtkTransformFilter>::New();
transform_filter->SetTransform(toVTK(w));
transform_filter->SetInputConnection(tube_filter_->GetOutputPort());
combined_mesh_fragments = mesh;
}

auto map = vtkSmartPointer<vtkPolyDataMapper>::New();
map->SetInputConnection(transform_filter->GetOutputPort());
else
{
combined_mesh_fragments = combineMeshes(combined_mesh_fragments, mesh);
}

auto actor = vtkActor::New();
actor->SetMapper(map);
pcl::io::savePLYFile(file_name + std::to_string(i) + ".ply", combined_mesh_fragments);

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

unmodified_tool_paths.push_back(path);
tool_paths_.push_back(pipeline.tool_path_modifier->modify(path));
}

QApplication::restoreOverrideCursor();

// Reset
{
pcl::VTKUtils::mesh2vtk(combined_mesh_fragments, combined_mesh_fragments_);
mesh_fragment_mapper_->Update();
mesh_fragment_mapper_->SetInputData(combined_mesh_fragments_);

tool_path_actors_.push_back(actor);
}
}
}
}

std::for_each(
tool_path_actors_.begin(), tool_path_actors_.end(), [this](vtkProp* actor) { renderer_->AddActor(actor); });
// 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());
}

// 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());
}

// Call render twice
render_widget_->GetRenderWindow()->Render();
Expand Down
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