I neglected GIT a bit so this commit is way to big

README.md

@@ -34,6 +34,10 @@ The interface has the following capabilities:
 # VR 360 cam
 This tool renders omnidirectional stereo images for a V-REP vision sensor. You don't need any physical VR device to use this tool (only to view the result). The theory behind this rendering process is exelently explained here : https://developers.google.com/vr/jump/rendering-ods-content.pdf.
 
+Some videos produced with this tool:
+- https://youtu.be/7O629j58bTI
+- https://youtu.be/pFAptrCYhaQ
+
 To use this tool, import the VR360_cam.ttm model in your V-REP scene. Next launch VR360_cam.exe (maybe as administrator, a file is saved in the location of the .exe file, this action could require administrator privileges). 
 This process is demonstrated at the end of this video https://youtu.be/ozam2Ew7RdA.
 
@@ -88,3 +92,21 @@ Please cite this paper if the interface is used in a relevant context (camera pl
   publisher={Multidisciplinary Digital Publishing Institute}
 }
 
+# Enabling Humans to Plan Inspection Paths Using a Virtual Reality Interface
+The interface also contains the implementation of the paper "Enabling Humans to Plan Inspection Paths Using a Virtual Reality Interface" available at https://arxiv.org/abs/1909.06077
+
+The usage is the same as in the demo scene: Hello_camera_coverage.ttt. To visualize the quality on a mesh, just make the mesh a child of the Field model.
+
+Additional signals:
+- To reset a measurement state: sim.setIntegerSignal("ResetMeasurement", 1)
+- To record a path: sim.setIntegerSignal("MeasurementInProgress", 1)
+
+Please cite this paper if the interface is used in a relevant context (Robotic inspection planning)
+
+@article{bogaerts2019enabling,
+  title={Enabling Humans to Plan Inspection Paths Using a Virtual Reality Interface},
+  author={Bogaerts, Boris and Sels, Seppe and Vanlanduit, Steve and Penne, Rudi},
+  journal={arXiv preprint arXiv:1909.06077},
+  year={2019}
+}
+

V-REP VR Interface/V-REP VR Interface.vcxproj

@@ -145,10 +145,6 @@
     <ResourceCompile Include="V-REP VR Interface.rc" />
     <ResourceCompile Include="V-REP VR Interface2.rc" />
   </ItemGroup>
-  <ItemGroup>
-    <Image Include="..\geen_titel_1_OHv_icon.ico" />
-    <Image Include="C:\Users\Boris\Downloads\geen_titel_1_OHv_icon.ico" />
-  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>

vrep_vtk_engine/pathObject.cpp

@@ -79,6 +79,20 @@ vtkSmartPointer<vtkActor> pathObject::getActor() {
 	return lineActor;
 }
 
+vtkSmartPointer<vtkActor> pathObject::getNewActor() {
+	vtkSmartPointer<vtkActor> newActor = vtkSmartPointer<vtkActor>::New();
+	vtkSmartPointer<vtkPolyData> newLineData = vtkSmartPointer<vtkPolyData>::New();
+	vtkSmartPointer<vtkPolyDataMapper> newLineMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+	newLineData->ShallowCopy(polyData);
+	newLineMapper->SetInputData(newLineData);
+	newActor->SetMapper(newLineMapper);
+	newActor->SetUserTransform(pose);
+	newActor->GetProperty()->SetColor(0.7, 0.14, 0.56);
+	newActor->GetProperty()->SetLineWidth(5.0);
+	newActor->PickableOff();
+	return newActor;
+}
+
 void pathObject::update() {
 	if (exist) {
 		simxInt succes;

vrep_vtk_engine/pathObject.h

@@ -45,6 +45,7 @@ class pathObject
 	~pathObject();
 	void update();
 	vtkSmartPointer<vtkActor> getActor();
+	vtkSmartPointer<vtkActor> getNewActor();
 protected:
 	int clientID;
 	bool exist = false;

vrep_vtk_engine/renderwindow_support.cpp

@@ -42,6 +42,7 @@
 #include <thread>
 #include <chrono>
 #include <ppl.h>
+#include "vrep_plot_container.h"
 
 void handleFunc(renderwindow_support *sup) {
 	cout << "Vision sensor thread activated" << endl;
@@ -181,7 +182,8 @@ void renderwindow_support::activate_interactor() {
 	renderer->AddActor(path->getActor());
 	renderer->Modified();
 
-
+	// Create plot container
+	vrep_plot_container *cont = new vrep_plot_container(clientID, renderer);
 
 	// Manage vision sensor thread (if necessary)
 	std::thread camThread;
@@ -197,6 +199,10 @@ void renderwindow_support::activate_interactor() {
 		chrono->increment();
 
 		path->update();
+
+		// add plot content
+		cont->update();
+
 		if (isReady()) {
 			syncData();
 			//grid->updatMap();

vrep_vtk_engine/stereoPanorama_renderwindow_support.cpp

@@ -49,9 +49,14 @@
 #include <vtkOutputWindow.h>
 #include <vtkFileOutputWindow.h>
 #include <vtkPNGWriter.h>
+#include <vtkPNGReader.h>
+#include "vrep_plot_container.h"
+#include <vtkAlgorithmOutput.h>
 
 #define PI 3.14159265
 
+
+
 stereoPanorama_renderwindow_support::stereoPanorama_renderwindow_support(int cid, int ref, int interactor)
 {
 	refH = ref;
@@ -65,7 +70,7 @@ stereoPanorama_renderwindow_support::stereoPanorama_renderwindow_support(int cid
 
 	vtkOutputWindow* ow = vtkOutputWindow::GetInstance();
 	vtkFileOutputWindow* fow = vtkFileOutputWindow::New();
-	fow->SetFileName("debug.log");
+	fow->SetFileName("VR360_debug.log");
 	if (ow)
 	{
 		ow->SetInstance(fow);
@@ -115,7 +120,12 @@ void stereoPanorama_renderwindow_support::addVrepScene(vrep_scene_content *vrepS
 				}
 			}
 			if (vrepScene->isVolumePresent()) {
-				renderer[k]->AddViewProp(vrepScene->getVolume());
+				if (k == 0) {
+					renderer[k]->AddVolume(vrepScene->getVolume());
+				}
+				else {
+					renderer[k]->AddVolume(vrepScene->getNawVolume());
+				}
 				grid = vrepScene->vol;
 				//renderer[k]->ResetCamera();
 			}
@@ -196,6 +206,41 @@ void stereoPanorama_renderwindow_support::syncData() {
 	vrepScene->transferVisionSensorData();
 }
 
+//vtkSmartPointer<vtkAlgorithmOutput> runFXAA(vtkSmartPointer<vtkImageData> im) {
+//	vtkSmartPointer<vtkOpenGLRenderer> render = vtkSmartPointer<vtkOpenGLRenderer>::New();
+//	vtkSmartPointer<vtkRenderWindow> renwin = vtkSmartPointer<vtkRenderWindow>::New();
+//	vtkSmartPointer<vtkOpenVRRenderWindowInteractor> renwinI = vtkSmartPointer<vtkOpenVRRenderWindowInteractor>::New();
+//
+//	vtkSmartPointer<vtkOpenGLTexture> tex = vtkSmartPointer<vtkOpenGLTexture>::New();
+//	vtkSmartPointer<vtkWindowToImageFilter> fi = vtkSmartPointer<vtkWindowToImageFilter>::New();
+//	tex->SetInputData(im);
+//	tex->Update();
+//	render->SetTexturedBackground(true);
+//	render->SetBackgroundTexture(tex);
+//	render->UseFXAAOn();
+//	renwin->AddRenderer(render);
+//	renwin->SetSize(im->GetDimensions()[0], im->GetDimensions()[1]);
+//	renwin->SetAlphaBitPlanes(1);
+//	//renwin->SetOffScreenRendering(true);
+//	
+//	renwinI->SetRenderWindow(renwin);
+//	fi->SetInput(renwin);
+//	fi->SetInputBufferTypeToRGBA();
+//	fi->ShouldRerenderOff();
+//	cout << "Did this" << endl;
+//	render->Render();
+//	cout << "Did this" << endl;
+//	fi->Modified();
+//	fi->ReadFrontBufferOff();
+//	fi->Update();
+//	render->Delete();
+//	renwin->Delete();
+//	renwinI->Delete();
+//	tex->Delete();
+//	return fi->GetOutputPort();
+//}
+
+
 
 void stereoPanorama_renderwindow_support::renderStrip(float dist, bool left, bool top, int k, int width, int height) {
 	vtkSmartPointer<vtkImageAppend> horizontal = vtkSmartPointer<vtkImageAppend>::New();
@@ -227,10 +272,7 @@ void stereoPanorama_renderwindow_support::renderStrip(float dist, bool left, boo
 		prePose->Modified();
 		vr_camera[k]->SetModelTransformMatrix(prePose->GetMatrix());
 		vr_camera[k]->Modified();
-
-		//vr_camera[k]->Modified();
 		renderer[k]->Render();
-		//vr_renderWindowInteractor[k]->Render();
 		filter[k]->Modified();
 		filter[k]->ReadFrontBufferOff();
 		filter[k]->Update();
@@ -275,22 +317,38 @@ void stereoPanorama_renderwindow_support::activate_interactor() {
 
 	// Search for dynamic path object
 	path = new pathObject(clientID);
-	for (int k = 0; k < 1; k++) {
-		renderer[k]->AddActor(path->getActor());
+	for (int k = 0; k < vr_camera.size(); k++) {
+		vtkSmartPointer<vtkActor> temp;
+		if (k == 0) {
+			temp = path->getActor();
+		}
+		else {
+			temp = path->getNewActor();
+		}
+		renderer[k]->AddActor(temp);
 		renderer[k]->Modified();
 	}
 	std::string fileName = ExePath();
 	fileName.append("\\imageTransfer.png");
 	//vrepScene->vol->toggleMode();
 	cout << "Temporary file save location : " << fileName << endl;
 
+	// Define plot container
+	vrep_plot_container *pc = new vrep_plot_container(clientID, renderer);
+
+	if (core == 1) {
+		cout << "Multi core rendering activated" << endl;
+	}else{
+		cout << "Single core rendering activated" << endl;
+	}
 	while (true) {
 		for (int i = 0; i < 2; i++) {
 			if (vrepScene->startVisionSensorThread()) { // if vision sensor
 				vrepScene->updateVisionSensorObjectPose();
 				coverage = vrepScene->updateVisionSensorRender();
 				syncData();
 			}
+			//checkBackground();
 			updatePose();
 			checkLayers();
 			path->update();
@@ -301,6 +359,10 @@ void stereoPanorama_renderwindow_support::activate_interactor() {
 		if (trigger == 0) {
 			continue; 
 		}
+
+		// update plot container
+		pc->update();
+
 		vtkSmartPointer<vtkImageAppend> vertical = vtkSmartPointer<vtkImageAppend>::New();
 		vertical->SetAppendAxis(1);
 		cout << "Started rendering image" << endl;
@@ -327,8 +389,11 @@ void stereoPanorama_renderwindow_support::activate_interactor() {
 		for (int i = 0; i < 4; i++) {
 			vertical->AddInputData(slice[i]); // top left
 		}
+
 		vtkSmartPointer<vtkPNGWriter> wr = vtkSmartPointer<vtkPNGWriter>::New();
 		wr->SetFileName(fileName.c_str());
+		vertical->Update();
+		//wr->SetInputConnection(runFXAA(vertical->GetOutput()));
 		wr->SetInputConnection(vertical->GetOutputPort());
 		wr->Write();
 
@@ -370,24 +435,30 @@ void stereoPanorama_renderwindow_support::activateMainCam(int height) {
 		renderer[k]->SetTwoSidedLighting(false);
 		renderer[k]->LightFollowCameraOff();
 		renderer[k]->AutomaticLightCreationOff();
-		//renderer[k]->UseDepthPeelingForVolumesOn();
-		//renderer[k]->SetMaximumNumberOfPeels(0);
-		//renderer[k]->SetUseDepthPeeling(true);
+		renderer[k]->UseDepthPeelingForVolumesOn();
+		renderer[k]->SetUseDepthPeeling(true);
+		renderer[k]->SetMaximumNumberOfPeels(20);
 		renderer[k]->Modified();
-		renderer[k]->SetBackground(data[0], data[1], data[2]);
-		renderer[k]->SetBackground2(data[3], data[4], data[5]);
-		renderer[k]->SetGradientBackground(true);
+		//renderer[k]->SetBackground(data[0], data[1], data[2]);
+		//renderer[k]->SetBackground2(data[3], data[4], data[5]);
+		//renderer[k]->SetGradientBackground(true);
+		//renderer[k]->SetBackground(1,1,1);
+		renderer[k]->SetBackgroundAlpha(0.0);  //-> re activate this
+		//renderer[k]->SetUseFXAA(true);
+
 		renderWindow[k]->AddRenderer(renderer[k]);
 
 		renderWindow[k]->SetSize(121.0, height); // make shure we have a 'middle' pixel
 		renderWindow[k]->SetOffScreenRendering(true);
 		renderWindow[k]->Initialize();
 		renderWindow[k]->SetDesiredUpdateRate(10000.0);
+		renderWindow[k]->SetAlphaBitPlanes(1); // -> re activate this
 		//renderWindow[k]->SetAlphaBitPlanes(true);
-		//renderWindow[k]->SetMultiSamples(0);
+		renderWindow[k]->SetMultiSamples(0);
 		vr_renderWindowInteractor[k]->SetRenderWindow(renderWindow[k]);
 		vr_renderWindowInteractor[k]->Initialize();
 		filter[k]->SetInput(renderWindow[k]);
+		filter[k]->SetInputBufferTypeToRGBA(); //-> re activate this
 		filter[k]->ShouldRerenderOff();
 	}
 }

vrep_vtk_engine/stereoPanorama_renderwindow_support.h

@@ -73,7 +73,7 @@ class stereoPanorama_renderwindow_support
 	void dynamicAddObjects();
 
 	void syncData();
-
+	//void checkBackground();
 	timerClass *chrono = new timerClass;
 protected:
 	vrep_scene_content * vrepScene;
@@ -84,13 +84,16 @@ class stereoPanorama_renderwindow_support
 	int refH;
 	int update = 10;
 	int useInteractor = true;
-	std::vector<vtkSmartPointer<vtkOpenGLRenderer>> renderer;
+	std::vector<vtkSmartPointer<vtkRenderer>> renderer;
 	std::vector<vtkSmartPointer<vtkWin32OpenGLRenderWindow>> renderWindow;
 	std::vector<vtkSmartPointer<vtkWin32RenderWindowInteractor>> vr_renderWindowInteractor;
 	std::vector<vtkSmartPointer<vtkOpenGLCamera>> vr_camera;
 	std::vector<vtkSmartPointer<vtkTransform>> pose;
 	std::vector<vtkSmartPointer<vtkImageData>> slice;
 
+	//vtkSmartPointer<vtkExtractVOI> backGroundSlicer = nullptr;
+	//vtkSmartPointer<vtkImageData> backGround = nullptr;
+
 	std::vector<vtkSmartPointer<vtkWindowToImageFilter>> filter;
 
 	vrep_volume_grid *grid;

vrep_vtk_engine/vr_renderwindow_support.cpp

@@ -50,6 +50,8 @@
 #include <vtkOBJImporter.h>
 #include <vtkActorCollection.h>
 #include <vtkPolyDataMapper.h>
+
+#include "vrep_plot_container.h"
 // Sorry this is purely vtk's fault, stupid function handles etc
 class miniClass {
 public:
@@ -480,6 +482,9 @@ void vr_renderwindow_support::activate_interactor() {
 	}else{
 		camThread.~thread();
 	}
+
+	// Define plot container
+	vrep_plot_container *pc = new vrep_plot_container(clientID, renderer);
 
 	// Start the render loop
 	while (true) {
@@ -497,6 +502,10 @@ void vr_renderwindow_support::activate_interactor() {
 		updateText(); // change framerate text
 		path->update();
 		checkLayers();
+
+		// update plot container
+		pc->update();
+
 		if (isReady()) {
 			syncData(); // transfer information of vision sensor in differend thread to this thread
 			//grid->updatMap();

vrep_vtk_engine/vrep_mesh_object.cpp

@@ -168,7 +168,7 @@ vtkSmartPointer<vtkActor> vrep_mesh_object::getNewActor() {
 	vtkSmartPointer<vtkPolyData> PD = vtkSmartPointer<vtkPolyData>::New();
 	newPM->SetLookupTable(vrep_polyData_mapper->GetLookupTable());
 	PD->DeepCopy(meshData);
-	//PD->GetPointData()->SetScalars(meshData->GetPointData()->GetScalars()); // if visibility computation
+	PD->GetPointData()->SetScalars(meshData->GetPointData()->GetScalars()); // if visibility computation
 	newPM->SetInputData(PD);
 	newActor->SetMapper(newPM);
 	if (texturedObject) {

vrep_vtk_engine/vrep_scene_content.cpp

@@ -327,8 +327,8 @@ void vrep_scene_content::vrep_get_object_pose() {
 float vrep_scene_content::computeScalarField() {
 	if (firstTime) {
 		if (volumePresent) {
-			scalar = vol->getScalars();
-			//scalar->SetNumberOfValues(vol->getNumberOfValues());
+			//scalar = vol->getScalars();
+			scalar->SetNumberOfValues(vol->getNumberOfValues());
 			state->SetNumberOfValues(vol->getNumberOfValues());
 		}
 		else {

vrep_vtk_engine/vrep_scene_content.h

@@ -77,6 +77,7 @@ class vrep_scene_content
 	int getNumActors();
 	int getNumRenders() { return camsContainer.size(); };
 	vtkSmartPointer<vtkVolume> getVolume() { return volume; };
+	vtkSmartPointer<vtkVolume> getNawVolume() { return vol->getNewVolume(); }
 	vtkSmartPointer<vtkActor> getPanelActor(int i) { return camsContainer[i].getActor(); };
 	vtkSmartPointer<vtkActor> getNewPanelActor(int i) { return camsContainer[i].getNewactor(); };
 	vtkSmartPointer<vtkLight> getLight(int i) { return lights[i].getLight(); };