added extra features

.circleci/config.yml

@@ -0,0 +1,18 @@
+version: 2
+jobs:
+  build:
+    docker:
+        - image: louisgcr/point_cloud_annotation_tool:latest
+    working_directory: /home
+
+    steps:
+      - run:
+          shell: /bin/bash
+          name: Set-up repo and compile
+          command: |
+            git clone https://github.com/Louisgcr/point-cloud-annotation-tool.git
+            cd point-cloud-annotation-tool
+            mkdir build
+            cd build
+            cmake ..
+            make

.gitignore

@@ -1,3 +1,4 @@
+docker/
 build/
 *.pcd
 *.user

Annotaion.cpp

@@ -2,6 +2,7 @@
 #include <vtkAnnotationBoxSource.h>
 #include <vtkBoxWidgetRestricted.h>
 #include <vtkBoxWidgetCallback.h>
+#include <stdio.h>
 
 using namespace std;
 
@@ -41,7 +42,6 @@ Annotation::Annotation(const PointCloudTPtr cloud, vector<int> &slice, string ty
     vtkSmartPointer<vtkTransform> cubeTransform = vtkSmartPointer<vtkTransform>::New();
     cubeTransform->PostMultiply();
     cubeTransform->Scale(label.detail.length,label.detail.width,label.detail.height);
-    //        cubeTransform->RotateZ(label.detail.yaw);
     cubeTransform->RotateZ(label.detail.yaw*180/vtkMath::Pi());
     cubeTransform->Translate(label.detail.center_x,label.detail.center_y,label.detail.center_z);
 
@@ -85,18 +85,12 @@ void Annotation::picked(vtkRenderWindowInteractor *interactor){
     boxWidget = vtkSmartPointer<vtkBoxWidgetRestricted>::New();
     boxWidgetCallback0 = vtkSmartPointer<vtkBoxWidgetCallback0>::New();
     boxWidgetCallback0->setAnno(this);
-    boxWidgetCallback1 = vtkSmartPointer<vtkBoxWidgetCallback1>::New();
-    boxWidgetCallback1->setAnno(this);
+    //boxWidgetCallback1 = vtkSmartPointer<vtkBoxWidgetCallback1>::New();
+    //boxWidgetCallback1->setAnno(this);
 
     boxWidget->SetInteractor(interactor);
-    // boxWidget->SetProp3D( cubeActor );
-    // boxWidget->SetPlaceFactor( 1.25 ); // Make the box 1.25x larger than the actor
-    // boxWidget->PlaceWidget();
-
-    // default is [-0.5, 0.5], NOTE
-    // [-1,1] makes boxwidget fit to annotion,
-    // but [-0.5, 0.5] should be in the correct way, may be some bug
-    double bounds[6]={-1,1,-1,1,-1,1};
+
+	double bounds[6]={-1,1,-1,1,-1,1};
     boxWidget->PlaceWidget(bounds);
 
     vtkSmartPointer<vtkTransform> t=vtkSmartPointer<vtkTransform>::New();
@@ -106,8 +100,21 @@ void Annotation::picked(vtkRenderWindowInteractor *interactor){
     boxWidget->GetOutlineProperty()->SetAmbientColor(1.0,0.0,0.0);
 
     boxWidget->AddObserver( vtkCommand::InteractionEvent, boxWidgetCallback0 );
-    boxWidget->AddObserver( vtkCommand::EndInteractionEvent, boxWidgetCallback1 );
+    //boxWidget->AddObserver( vtkCommand::EndInteractionEvent, boxWidgetCallback1 );
     boxWidget->On();
+
+}
+
+double* Annotation::getBoxPose(void){
+
+	return  transform->GetPosition();
+
+}
+
+double* Annotation::getBoxOri(void){
+
+	return  transform->GetOrientation();
+
 }
 
 void Annotation::unpicked(){
@@ -217,7 +224,7 @@ void Annotation::colorAnnotation(int color_index){
 
     actor->GetProperty()->SetLineWidth(2);
     actor->GetProperty ()->SetLighting (false);
-
+	actor->GetProperty()->SetOpacity(0.5);
     mapper->SetLookupTable(lut);
 }
 
@@ -348,9 +355,15 @@ void Annotaions::loadAnnotations(string filename)
 void Annotaions::saveAnnotations(string filename)
 {
     if (annotations.empty()) return;
+
+	if(std::remove(filename.c_str()) == 0){
+		std::cout<<"Removed old files"<<std::endl;
+	}
+
     std::ofstream output(filename.c_str(), std::ios_base::out);
     for (auto anno:annotations){
         output<<anno->getBoxLabel().toString()<<std::endl;
+		//std::cout<<anno->getBoxLabel().toString()<<std::endl;
     }
     output.close();
 }

Annotaion.h

@@ -95,6 +95,16 @@ class Annotation
      */
     void picked(vtkRenderWindowInteractor* interactor);
 
+    /* @brief: Get the box pose 
+	 * @return ptr that contains box position
+	 */
+	double* getBoxPose(void);
+
+	/* @brief: Get the box orientation(You never know, it may be gay)
+	 * @return: ptr that contains orientation
+	 */
+	double* getBoxOri(void);
+
     /**
      * @brief disable boxWidget
      */

LICENSE

@@ -1,5 +1,6 @@
 MIT License
 
+Copyright (c) 2019 Louis Goh
 Copyright (c) 2018 Fancy Zhang
 
 Permission is hereby granted, free of charge, to any person obtaining a copy

README.md

@@ -1,18 +1,40 @@
+# [Point Cloud Annotation Tool](https://github.com/Louisgcr/point-cloud-annotation-tool)
+
+Branch | Status
+------------ | -------------
+Master |[![CircleCI](https://circleci.com/gh/Louisgcr/point-cloud-annotation-tool/tree/master.svg?style=svg)](https://circleci.com/gh/Louisgcr/point-cloud-annotation-tool/tree/master)
+
 ##  point cloud annotation tool
 It is a tool used to annotate 3D box in point cloud. Point cloud in KITTI-bin format is supported. Annotation format is the same as Applo 3D format. Data examples can be found at [here](http://data.apollo.auto/help?name=data_intro_3d&data_key=lidar_obstacle_label&data_type=0&locale=en-us&lang=en).
 
+![example1 image](example_new.png)
+
+![Demo](pcl_demo.gif)
+
 ### supported functions
 - load, save, visiualize
 - point cloud selection
-- 3d box generation and adaption 
+- 3d box generation
 - ground remove using threhold or plane detect
 
+### New Features
+- 3 Additional camera view (top, front, side) that snaps to object
+- Ability to move box object in any render window
+- Added a full screen feature to toggle current render window and normal view
+- Real time update of box details in message box below
+- Points in boxs are highlighted green
+- Box Opacity reduce to see through box 
+- Lowered point intensity to see clearer
+
 ### usage 
 - if *cloud.bin* is open, then *cloud.bin.txt* will be the annotation file to be loaded if exist.
 - click to select an annotaion, then edit it, rotate it or just press 'Del' to delete.
 - 'x' to toggle selection mode,then left click with ctrl or shift to help select.
 - click label button to annotate a 3D box.
 
+### additional usage
+- ctrl + z to toggle full screen and selected render window
+
 
 ### dependency
 Tested with pcl 1.8, vtk 8.1, Qt5  under both ubuntu 16.04 and windows 10.
@@ -21,4 +43,22 @@ to build:
 mkdir build && cd build && cmake .. && make
 ```
 
-![example1 image](example1.png) ![example2 image](example2.png)
+## Authors
+1. Louis Goh 
+2. springzfx- Initial Work
+
+##  Acknowledgement
+1. Fancy Zhang
+
+(Meow!!)  
+.....\  
+........_  
+.....<(o )___  
+......( .__> /  
+........`-----'  
+
+## License
+[MIT](https://github.com/nishanths/license/blob/master/LICENSE)
+
+
+

mainwindow.ui

@@ -95,7 +95,7 @@
           <property name="maximumSize">
            <size>
             <width>16777215</width>
-            <height>15</height>
+            <height>60</height>
            </size>
           </property>
           <property name="text">

pcl/visualization/MyCloudLUT.cpp

@@ -4,10 +4,10 @@
 /// Lookup table
 static const unsigned char CloudLUT[] =
 {
-  255 , 255, 255 , // default
+  125 , 125, 125 , // default
   255,  0,   0   , // highted
-  0  ,  0,   255   // ground
-
+  0  ,  0,   255 ,  // ground
+  0  ,  255, 0
 };
 
 /// Number of colors in Glasbey lookup table