diff --git a/CMakeLists.txt b/CMakeLists.txt index d7db8fd130..aa4a2e28f3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -128,6 +128,7 @@ OCV_OPTION(WITH_1394 "Include IEEE1394 support" ON OCV_OPTION(WITH_AVFOUNDATION "Use AVFoundation for Video I/O" ON IF IOS) OCV_OPTION(WITH_CARBON "Use Carbon for UI instead of Cocoa" OFF IF APPLE ) OCV_OPTION(WITH_CUDA "Include NVidia Cuda Runtime support" ON IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) ) +OCV_OPTION(WITH_VTK "Include VTK library support (and build opencv_viz module eiher)" ON IF (NOT ANDROID AND NOT IOS) ) OCV_OPTION(WITH_CUFFT "Include NVidia Cuda Fast Fourier Transform (FFT) library support" ON IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) ) OCV_OPTION(WITH_CUBLAS "Include NVidia Cuda Basic Linear Algebra Subprograms (BLAS) library support" OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) ) OCV_OPTION(WITH_NVCUVID "Include NVidia Video Decoding library support" OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT ANDROID AND NOT IOS AND NOT APPLE) ) @@ -471,6 +472,9 @@ if(WITH_OPENCL) include(cmake/OpenCVDetectOpenCL.cmake) endif() +# --- VTK support --- +include(cmake/OpenCVDetectVTK.cmake) + # ---------------------------------------------------------------------------- # Add CUDA libraries (needed for apps/tools, samples) # ---------------------------------------------------------------------------- @@ -705,6 +709,7 @@ else() endif() status(" OpenGL support:" HAVE_OPENGL THEN "YES (${OPENGL_LIBRARIES})" ELSE NO) +status(" VTK support:" HAVE_VTK THEN "YES (ver ${VTK_VERSION})" ELSE NO) # ========================== MEDIA IO ========================== status("") diff --git a/cmake/OpenCVDetectVTK.cmake b/cmake/OpenCVDetectVTK.cmake new file mode 100644 index 0000000000..ef9aa8043c --- /dev/null +++ b/cmake/OpenCVDetectVTK.cmake @@ -0,0 +1,21 @@ +if(NOT WITH_VTK OR ANDROID OR IOS) + return() +endif() + +find_package(VTK 6.0 QUIET COMPONENTS vtkRenderingCore vtkInteractionWidgets vtkInteractionStyle vtkIOLegacy vtkIOPLY vtkRenderingFreeType vtkRenderingLOD vtkFiltersTexture vtkIOExport NO_MODULE) + +if(NOT DEFINED VTK_FOUND OR NOT VTK_FOUND) + find_package(VTK 5.10 QUIET COMPONENTS vtkCommon vtkFiltering vtkRendering vtkWidgets vtkImaging NO_MODULE) +endif() + +if(NOT DEFINED VTK_FOUND OR NOT VTK_FOUND) + find_package(VTK 5.8 QUIET COMPONENTS vtkCommon vtkFiltering vtkRendering vtkWidgets vtkImaging NO_MODULE) +endif() + +if(VTK_FOUND) + set(HAVE_VTK ON) + message(STATUS "Found VTK ver. ${VTK_VERSION} (usefile: ${VTK_USE_FILE})") +else() + set(HAVE_VTK OFF) + message(STATUS "VTK is not found. Please set -DVTK_DIR in CMake to VTK build directory, or set $VTK_DIR enviroment variable to VTK install subdirectory with VTKConfig.cmake file (for windows)") +endif() diff --git a/doc/tutorials/images/viz.jpg b/doc/tutorials/images/viz.jpg new file mode 100644 index 0000000000..7ac8f3ed8d Binary files /dev/null and b/doc/tutorials/images/viz.jpg differ diff --git a/doc/tutorials/tutorials.rst b/doc/tutorials/tutorials.rst index cbc51c1956..54cc91acb8 100644 --- a/doc/tutorials/tutorials.rst +++ b/doc/tutorials/tutorials.rst @@ -186,6 +186,21 @@ As always, we would be happy to hear your comments and receive your contribution :width: 80pt :alt: gpu icon +* :ref:`Table-Of-Content-Viz` + + .. tabularcolumns:: m{100pt} m{300pt} + .. cssclass:: toctableopencv + + =========== ======================================================= + |Viz| These tutorials show how to use Viz module effectively. + + =========== ======================================================= + + .. |Viz| image:: images/viz.jpg + :height: 80pt + :width: 80pt + :alt: viz icon + * :ref:`Table-Of-Content-General` .. tabularcolumns:: m{100pt} m{300pt} @@ -221,4 +236,5 @@ As always, we would be happy to hear your comments and receive your contribution gpu/table_of_content_gpu/table_of_content_gpu contrib/table_of_content_contrib/table_of_content_contrib ios/table_of_content_ios/table_of_content_ios + viz/table_of_content_viz/table_of_content_viz general/table_of_content_general/table_of_content_general diff --git a/doc/tutorials/viz/creating_widgets/creating_widgets.rst b/doc/tutorials/viz/creating_widgets/creating_widgets.rst new file mode 100644 index 0000000000..8858035c34 --- /dev/null +++ b/doc/tutorials/viz/creating_widgets/creating_widgets.rst @@ -0,0 +1,159 @@ +.. _creating_widgets: + +Creating Widgets +**************** + +Goal +==== + +In this tutorial you will learn how to + +.. container:: enumeratevisibleitemswithsquare + + * Create your own widgets using WidgetAccessor and VTK. + * Show your widget in the visualization window. + +Code +==== + +You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/creating_widgets.cpp>`. + +.. code-block:: cpp + + #include + #include + #include + + #include + #include + #include + #include + #include + #include + #include + #include + + using namespace cv; + using namespace std; + + /** + * @class WTriangle + * @brief Defining our own 3D Triangle widget + */ + class WTriangle : public viz::Widget3D + { + public: + WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); + }; + + /** + * @function WTriangle::WTriangle + */ + WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color) + { + // Create a triangle + vtkSmartPointer points = vtkSmartPointer::New(); + points->InsertNextPoint(pt1.x, pt1.y, pt1.z); + points->InsertNextPoint(pt2.x, pt2.y, pt2.z); + points->InsertNextPoint(pt3.x, pt3.y, pt3.z); + + vtkSmartPointer triangle = vtkSmartPointer::New(); + triangle->GetPointIds()->SetId(0,0); + triangle->GetPointIds()->SetId(1,1); + triangle->GetPointIds()->SetId(2,2); + + vtkSmartPointer cells = vtkSmartPointer::New(); + cells->InsertNextCell(triangle); + + // Create a polydata object + vtkSmartPointer polyData = vtkSmartPointer::New(); + + // Add the geometry and topology to the polydata + polyData->SetPoints(points); + polyData->SetPolys(cells); + + // Create mapper and actor + vtkSmartPointer mapper = vtkSmartPointer::New(); + #if VTK_MAJOR_VERSION <= 5 + mapper->SetInput(polyData); + #else + mapper->SetInputData(polyData); + #endif + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + // Store this actor in the widget in order that visualizer can access it + viz::WidgetAccessor::setProp(*this, actor); + + // Set the color of the widget. This has to be called after WidgetAccessor. + setColor(color); + } + + /** + * @function main + */ + int main() + { + /// Create a window + viz::Viz3d myWindow("Creating Widgets"); + + /// Create a triangle widget + WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red()); + + /// Show widget in the visualizer window + myWindow.showWidget("TRIANGLE", tw); + + /// Start event loop + myWindow.spin(); + + return 0; + } + +Explanation +=========== + +Here is the general structure of the program: + +* Extend Widget3D class to create a new 3D widget. + +.. code-block:: cpp + + class WTriangle : public viz::Widget3D + { + public: + WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); + }; + +* Assign a VTK actor to the widget. + +.. code-block:: cpp + + // Store this actor in the widget in order that visualizer can access it + viz::WidgetAccessor::setProp(*this, actor); + +* Set color of the widget. + +.. code-block:: cpp + + // Set the color of the widget. This has to be called after WidgetAccessor. + setColor(color); + +* Construct a triangle widget and display it in the window. + +.. code-block:: cpp + + /// Create a triangle widget + WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red()); + + /// Show widget in the visualizer window + myWindow.showWidget("TRIANGLE", tw); + +Results +======= + +Here is the result of the program. + +.. image:: images/red_triangle.png + :alt: Creating Widgets + :align: center diff --git a/doc/tutorials/viz/creating_widgets/images/red_triangle.png b/doc/tutorials/viz/creating_widgets/images/red_triangle.png new file mode 100644 index 0000000000..7da6ad0602 Binary files /dev/null and b/doc/tutorials/viz/creating_widgets/images/red_triangle.png differ diff --git a/doc/tutorials/viz/launching_viz/images/window_demo.png b/doc/tutorials/viz/launching_viz/images/window_demo.png new file mode 100644 index 0000000000..b853fe29da Binary files /dev/null and b/doc/tutorials/viz/launching_viz/images/window_demo.png differ diff --git a/doc/tutorials/viz/launching_viz/launching_viz.rst b/doc/tutorials/viz/launching_viz/launching_viz.rst new file mode 100644 index 0000000000..a3dd5d93c6 --- /dev/null +++ b/doc/tutorials/viz/launching_viz/launching_viz.rst @@ -0,0 +1,118 @@ +.. _launching_viz: + +Launching Viz +************* + +Goal +==== + +In this tutorial you will learn how to + +.. container:: enumeratevisibleitemswithsquare + + * Open a visualization window. + * Access a window by its name. + * Start event loop. + * Start event loop for a given amount of time. + +Code +==== + +You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/launching_viz.cpp>`. + +.. code-block:: cpp + + #include + #include + + using namespace cv; + using namespace std; + + /** + * @function main + */ + int main() + { + /// Create a window + viz::Viz3d myWindow("Viz Demo"); + + /// Start event loop + myWindow.spin(); + + /// Event loop is over when pressed q, Q, e, E + cout << "First event loop is over" << endl; + + /// Access window via its name + viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo"); + + /// Start event loop + sameWindow.spin(); + + /// Event loop is over when pressed q, Q, e, E + cout << "Second event loop is over" << endl; + + /// Event loop is over when pressed q, Q, e, E + /// Start event loop once for 1 millisecond + sameWindow.spinOnce(1, true); + while(!sameWindow.wasStopped()) + { + /// Interact with window + + /// Event loop for 1 millisecond + sameWindow.spinOnce(1, true); + } + + /// Once more event loop is stopped + cout << "Last event loop is over" << endl; + return 0; + } + +Explanation +=========== + +Here is the general structure of the program: + +* Create a window. + +.. code-block:: cpp + + /// Create a window + viz::Viz3d myWindow("Viz Demo"); + +* Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**. + +.. code-block:: cpp + + /// Start event loop + myWindow.spin(); + +* Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created. + +.. code-block:: cpp + + /// Access window via its name + viz::Viz3d sameWindow = viz::get("Viz Demo"); + +* Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window. + +.. code-block:: cpp + + /// Event loop is over when pressed q, Q, e, E + /// Start event loop once for 1 millisecond + sameWindow.spinOnce(1, true); + while(!sameWindow.wasStopped()) + { + /// Interact with window + + /// Event loop for 1 millisecond + sameWindow.spinOnce(1, true); + } + +Results +======= + +Here is the result of the program. + +.. image:: images/window_demo.png + :alt: Launching Viz + :align: center diff --git a/doc/tutorials/viz/table_of_content_viz/images/facedetect.jpg b/doc/tutorials/viz/table_of_content_viz/images/facedetect.jpg new file mode 100644 index 0000000000..788b7d8262 Binary files /dev/null and b/doc/tutorials/viz/table_of_content_viz/images/facedetect.jpg differ diff --git a/doc/tutorials/viz/table_of_content_viz/images/image_effects.png b/doc/tutorials/viz/table_of_content_viz/images/image_effects.png new file mode 100644 index 0000000000..1a675ce74f Binary files /dev/null and b/doc/tutorials/viz/table_of_content_viz/images/image_effects.png differ diff --git a/doc/tutorials/viz/table_of_content_viz/images/intro.png b/doc/tutorials/viz/table_of_content_viz/images/intro.png new file mode 100644 index 0000000000..4f54cfb916 Binary files /dev/null and b/doc/tutorials/viz/table_of_content_viz/images/intro.png differ diff --git a/doc/tutorials/viz/table_of_content_viz/table_of_content_viz.rst b/doc/tutorials/viz/table_of_content_viz/table_of_content_viz.rst new file mode 100644 index 0000000000..c3d08fe17b --- /dev/null +++ b/doc/tutorials/viz/table_of_content_viz/table_of_content_viz.rst @@ -0,0 +1,94 @@ +.. _Table-Of-Content-Viz: + +**OpenCV Viz** +----------------------------------------------------------- + +.. include:: ../../definitions/tocDefinitions.rst + ++ + .. tabularcolumns:: m{100pt} m{300pt} + .. cssclass:: toctableopencv + + ================== =============================================================================== + |VizLaunchingViz| **Title:** :ref:`launching_viz` + + *Compatibility:* > OpenCV 3.0.0 + + *Author:* Ozan Tonkal + + You will learn how to launch a viz window. + + ================== =============================================================================== + + .. |VizLaunchingViz| image:: ../launching_viz/images/window_demo.png + :height: 120pt + :width: 90pt + ++ + .. tabularcolumns:: m{100pt} m{300pt} + .. cssclass:: toctableopencv + + ================ ============================================================================ + |WidgetPose| **Title:** :ref:`widget_pose` + + *Compatibility:* > OpenCV 3.0.0 + + *Author:* Ozan Tonkal + + You will learn how to change pose of a widget. + + ================ ============================================================================ + + .. |WidgetPose| image:: ../widget_pose/images/widgetpose.png + :height: 90pt + :width: 90pt + ++ + .. tabularcolumns:: m{100pt} m{300pt} + .. cssclass:: toctableopencv + + ================== ============================================================================ + |Transformations| **Title:** :ref:`transformations` + + *Compatibility:* > OpenCV 3.0.0 + + *Author:* Ozan Tonkal + + You will learn how to transform between global and camera frames. + + ================== ============================================================================ + + .. |Transformations| image:: ../transformations/images/global_view_point.png + :height: 120pt + :width: 90pt + ++ + .. tabularcolumns:: m{100pt} m{300pt} + .. cssclass:: toctableopencv + + ================== ============================================================================ + |CreatingWidgets| **Title:** :ref:`creating_widgets` + + *Compatibility:* > OpenCV 3.0.0 + + *Author:* Ozan Tonkal + + You will learn how to create your own widgets. + + ================== ============================================================================ + + .. |CreatingWidgets| image:: ../creating_widgets/images/red_triangle.png + :height: 120pt + :width: 90pt + +.. raw:: latex + + \pagebreak + +.. toctree:: + :hidden: + + ../launching_viz/launching_viz + ../widget_pose/widget_pose + ../transformations/transformations + ../creating_widgets/creating_widgets diff --git a/doc/tutorials/viz/transformations/images/camera_view_point.png b/doc/tutorials/viz/transformations/images/camera_view_point.png new file mode 100644 index 0000000000..e2ac5b0f0d Binary files /dev/null and b/doc/tutorials/viz/transformations/images/camera_view_point.png differ diff --git a/doc/tutorials/viz/transformations/images/global_view_point.png b/doc/tutorials/viz/transformations/images/global_view_point.png new file mode 100644 index 0000000000..fc6de2c1a1 Binary files /dev/null and b/doc/tutorials/viz/transformations/images/global_view_point.png differ diff --git a/doc/tutorials/viz/transformations/transformations.rst b/doc/tutorials/viz/transformations/transformations.rst new file mode 100644 index 0000000000..d1f2d0c2e0 --- /dev/null +++ b/doc/tutorials/viz/transformations/transformations.rst @@ -0,0 +1,202 @@ +.. _transformations: + +Transformations +*************** + +Goal +==== + +In this tutorial you will learn how to + +.. container:: enumeratevisibleitemswithsquare + + * How to use makeTransformToGlobal to compute pose + * How to use makeCameraPose and Viz3d::setViewerPose + * How to visualize camera position by axes and by viewing frustum + +Code +==== + +You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/transformations.cpp>`. + +.. code-block:: cpp + + #include + #include + #include + + using namespace cv; + using namespace std; + + /** + * @function cvcloud_load + * @brief load bunny.ply + */ + Mat cvcloud_load() + { + Mat cloud(1, 1889, CV_32FC3); + ifstream ifs("bunny.ply"); + + string str; + for(size_t i = 0; i < 12; ++i) + getline(ifs, str); + + Point3f* data = cloud.ptr(); + float dummy1, dummy2; + for(size_t i = 0; i < 1889; ++i) + ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2; + + cloud *= 5.0f; + return cloud; + } + + /** + * @function main + */ + int main(int argn, char **argv) + { + if (argn < 2) + { + cout << "Usage: " << endl << "./transformations [ G | C ]" << endl; + return 1; + } + + bool camera_pov = (argv[1][0] == 'C'); + + /// Create a window + viz::Viz3d myWindow("Coordinate Frame"); + + /// Add coordinate axes + myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); + + /// Let's assume camera has the following properties + Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f); + + /// We can get the pose of the cam using makeCameraPose + Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir); + + /// We can get the transformation matrix from camera coordinate system to global using + /// - makeTransformToGlobal. We need the axes of the camera + Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos); + + /// Create a cloud widget. + Mat bunny_cloud = cvcloud_load(); + viz::WCloud cloud_widget(bunny_cloud, viz::Color::green()); + + /// Pose of the widget in camera frame + Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f)); + /// Pose of the widget in global frame + Affine3f cloud_pose_global = transform * cloud_pose; + + /// Visualize camera frame + if (!camera_pov) + { + viz::WCameraPosition cpw(0.5); // Coordinate axes + viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum + myWindow.showWidget("CPW", cpw, cam_pose); + myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); + } + + /// Visualize widget + myWindow.showWidget("bunny", cloud_widget, cloud_pose_global); + + /// Set the viewer pose to that of camera + if (camera_pov) + myWindow.setViewerPose(cam_pose); + + /// Start event loop. + myWindow.spin(); + + return 0; + } + + +Explanation +=========== + +Here is the general structure of the program: + +* Create a visualization window. + +.. code-block:: cpp + + /// Create a window + viz::Viz3d myWindow("Transformations"); + +* Get camera pose from camera position, camera focal point and y direction. + +.. code-block:: cpp + + /// Let's assume camera has the following properties + Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f); + + /// We can get the pose of the cam using makeCameraPose + Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir); + +* Obtain transform matrix knowing the axes of camera coordinate system. + +.. code-block:: cpp + + /// We can get the transformation matrix from camera coordinate system to global using + /// - makeTransformToGlobal. We need the axes of the camera + Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos); + +* Create a cloud widget from bunny.ply file + +.. code-block:: cpp + + /// Create a cloud widget. + Mat bunny_cloud = cvcloud_load(); + viz::WCloud cloud_widget(bunny_cloud, viz::Color::green()); + +* Given the pose in camera coordinate system, estimate the global pose. + +.. code-block:: cpp + + /// Pose of the widget in camera frame + Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f)); + /// Pose of the widget in global frame + Affine3f cloud_pose_global = transform * cloud_pose; + +* If the view point is set to be global, visualize camera coordinate frame and viewing frustum. + +.. code-block:: cpp + + /// Visualize camera frame + if (!camera_pov) + { + viz::WCameraPosition cpw(0.5); // Coordinate axes + viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum + myWindow.showWidget("CPW", cpw, cam_pose); + myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); + } + +* Visualize the cloud widget with the estimated global pose + +.. code-block:: cpp + + /// Visualize widget + myWindow.showWidget("bunny", cloud_widget, cloud_pose_global); + +* If the view point is set to be camera's, set viewer pose to **cam_pose**. + +.. code-block:: cpp + + /// Set the viewer pose to that of camera + if (camera_pov) + myWindow.setViewerPose(cam_pose); + +Results +======= + +#. Here is the result from the camera point of view. + + .. image:: images/camera_view_point.png + :alt: Camera Viewpoint + :align: center + +#. Here is the result from global point of view. + + .. image:: images/global_view_point.png + :alt: Global Viewpoint + :align: center diff --git a/doc/tutorials/viz/widget_pose/images/widgetpose.png b/doc/tutorials/viz/widget_pose/images/widgetpose.png new file mode 100644 index 0000000000..ef8a5937f9 Binary files /dev/null and b/doc/tutorials/viz/widget_pose/images/widgetpose.png differ diff --git a/doc/tutorials/viz/widget_pose/widget_pose.rst b/doc/tutorials/viz/widget_pose/widget_pose.rst new file mode 100644 index 0000000000..a4466bdedf --- /dev/null +++ b/doc/tutorials/viz/widget_pose/widget_pose.rst @@ -0,0 +1,162 @@ +.. _widget_pose: + +Pose of a widget +**************** + +Goal +==== + +In this tutorial you will learn how to + +.. container:: enumeratevisibleitemswithsquare + + * Add widgets to the visualization window + * Use Affine3 to set pose of a widget + * Rotating and translating a widget along an axis + +Code +==== + +You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`. + +.. code-block:: cpp + + #include + #include + #include + + using namespace cv; + using namespace std; + + /** + * @function main + */ + int main() + { + /// Create a window + viz::Viz3d myWindow("Coordinate Frame"); + + /// Add coordinate axes + myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); + + /// Add line to represent (1,1,1) axis + viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); + axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); + myWindow.showWidget("Line Widget", axis); + + /// Construct a cube widget + viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); + cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); + + /// Display widget (update if already displayed) + myWindow.showWidget("Cube Widget", cube_widget); + + /// Rodrigues vector + Mat rot_vec = Mat::zeros(1,3,CV_32F); + float translation_phase = 0.0, translation = 0.0; + while(!myWindow.wasStopped()) + { + /* Rotation using rodrigues */ + /// Rotate around (1,1,1) + rot_vec.at(0,0) += CV_PI * 0.01f; + rot_vec.at(0,1) += CV_PI * 0.01f; + rot_vec.at(0,2) += CV_PI * 0.01f; + + /// Shift on (1,1,1) + translation_phase += CV_PI * 0.01f; + translation = sin(translation_phase); + + Mat rot_mat; + Rodrigues(rot_vec, rot_mat); + + /// Construct pose + Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); + + myWindow.setWidgetPose("Cube Widget", pose); + + myWindow.spinOnce(1, true); + } + + return 0; + } + +Explanation +=========== + +Here is the general structure of the program: + +* Create a visualization window. + +.. code-block:: cpp + + /// Create a window + viz::Viz3d myWindow("Coordinate Frame"); + +* Show coordinate axes in the window using CoordinateSystemWidget. + +.. code-block:: cpp + + /// Add coordinate axes + myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); + +* Display a line representing the axis (1,1,1). + +.. code-block:: cpp + + /// Add line to represent (1,1,1) axis + viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); + axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); + myWindow.showWidget("Line Widget", axis); + +* Construct a cube. + +.. code-block:: cpp + + /// Construct a cube widget + viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); + cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); + myWindow.showWidget("Cube Widget", cube_widget); + +* Create rotation matrix from rodrigues vector + +.. code-block:: cpp + + /// Rotate around (1,1,1) + rot_vec.at(0,0) += CV_PI * 0.01f; + rot_vec.at(0,1) += CV_PI * 0.01f; + rot_vec.at(0,2) += CV_PI * 0.01f; + + ... + + Mat rot_mat; + Rodrigues(rot_vec, rot_mat); + +* Use Affine3f to set pose of the cube. + +.. code-block:: cpp + + /// Construct pose + Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); + myWindow.setWidgetPose("Cube Widget", pose); + +* Animate the rotation using wasStopped and spinOnce + +.. code-block:: cpp + + while(!myWindow.wasStopped()) + { + ... + + myWindow.spinOnce(1, true); + } + +Results +======= + +Here is the result of the program. + +.. raw:: html + +
+ +
diff --git a/modules/core/include/opencv2/core/affine.hpp b/modules/core/include/opencv2/core/affine.hpp new file mode 100644 index 0000000000..827d044b87 --- /dev/null +++ b/modules/core/include/opencv2/core/affine.hpp @@ -0,0 +1,509 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. +// Copyright (C) 2009, Willow Garage Inc., all rights reserved. +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#ifndef __OPENCV_CORE_AFFINE3_HPP__ +#define __OPENCV_CORE_AFFINE3_HPP__ + +#ifdef __cplusplus + +#include + +namespace cv +{ + template + class Affine3 + { + public: + typedef T float_type; + typedef Matx Mat3; + typedef Matx Mat4; + typedef Vec Vec3; + + Affine3(); + + //Augmented affine matrix + Affine3(const Mat4& affine); + + //Rotation matrix + Affine3(const Mat3& R, const Vec3& t = Vec3::all(0)); + + //Rodrigues vector + Affine3(const Vec3& rvec, const Vec3& t = Vec3::all(0)); + + //Combines all contructors above. Supports 4x4, 4x3, 3x3, 1x3, 3x1 sizes of data matrix + explicit Affine3(const Mat& data, const Vec3& t = Vec3::all(0)); + + //From 16th element array + explicit Affine3(const float_type* vals); + + static Affine3 Identity(); + + //Rotation matrix + void rotation(const Mat3& R); + + //Rodrigues vector + void rotation(const Vec3& rvec); + + //Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix; + void rotation(const Mat& data); + + void linear(const Mat3& L); + void translation(const Vec3& t); + + Mat3 rotation() const; + Mat3 linear() const; + Vec3 translation() const; + + //Rodrigues vector + Vec3 rvec() const; + + Affine3 inv(int method = cv::DECOMP_SVD) const; + + // a.rotate(R) is equivalent to Affine(R, 0) * a; + Affine3 rotate(const Mat3& R) const; + + // a.rotate(R) is equivalent to Affine(rvec, 0) * a; + Affine3 rotate(const Vec3& rvec) const; + + // a.translate(t) is equivalent to Affine(E, t) * a; + Affine3 translate(const Vec3& t) const; + + // a.concatenate(affine) is equivalent to affine * a; + Affine3 concatenate(const Affine3& affine) const; + + template operator Affine3() const; + + template Affine3 cast() const; + + Mat4 matrix; + +#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H + Affine3(const Eigen::Transform& affine); + Affine3(const Eigen::Transform& affine); + operator Eigen::Transform() const; + operator Eigen::Transform() const; +#endif + }; + + template static + Affine3 operator*(const Affine3& affine1, const Affine3& affine2); + + template static + V operator*(const Affine3& affine, const V& vector); + + typedef Affine3 Affine3f; + typedef Affine3 Affine3d; + + static Vec3f operator*(const Affine3f& affine, const Vec3f& vector); + static Vec3d operator*(const Affine3d& affine, const Vec3d& vector); + + template class DataType< Affine3<_Tp> > + { + public: + typedef Affine3<_Tp> value_type; + typedef Affine3::work_type> work_type; + typedef _Tp channel_type; + + enum { generic_type = 0, + depth = DataType::depth, + channels = 16, + fmt = DataType::fmt + ((channels - 1) << 8), + type = CV_MAKETYPE(depth, channels) + }; + + typedef Vec vec_type; + }; +} + + +/////////////////////////////////////////////////////////////////////////////////// +/// Implementaiton + +template inline +cv::Affine3::Affine3() + : matrix(Mat4::eye()) +{} + +template inline +cv::Affine3::Affine3(const Mat4& affine) + : matrix(affine) +{} + +template inline +cv::Affine3::Affine3(const Mat3& R, const Vec3& t) +{ + rotation(R); + translation(t); + matrix.val[12] = matrix.val[13] = matrix.val[14] = 0; + matrix.val[15] = 1; +} + +template inline +cv::Affine3::Affine3(const Vec3& _rvec, const Vec3& t) +{ + rotation(_rvec); + translation(t); + matrix.val[12] = matrix.val[13] = matrix.val[14] = 0; + matrix.val[15] = 1; +} + +template inline +cv::Affine3::Affine3(const cv::Mat& data, const Vec3& t) +{ + CV_Assert(data.type() == cv::DataType::type); + + if (data.cols == 4 && data.rows == 4) + { + data.copyTo(matrix); + return; + } + else if (data.cols == 4 && data.rows == 3) + { + rotation(data(Rect(0, 0, 3, 3))); + translation(data(Rect(3, 0, 1, 3))); + return; + } + + rotation(data); + translation(t); + matrix.val[12] = matrix.val[13] = matrix.val[14] = 0; + matrix.val[15] = 1; +} + +template inline +cv::Affine3::Affine3(const float_type* vals) : matrix(vals) +{} + +template inline +cv::Affine3 cv::Affine3::Identity() +{ + return Affine3(cv::Affine3::Mat4::eye()); +} + +template inline +void cv::Affine3::rotation(const Mat3& R) +{ + linear(R); +} + +template inline +void cv::Affine3::rotation(const Vec3& _rvec) +{ + double rx = _rvec[0], ry = _rvec[1], rz = _rvec[2]; + double theta = std::sqrt(rx*rx + ry*ry + rz*rz); + + if (theta < DBL_EPSILON) + rotation(Mat3::eye()); + else + { + const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 }; + + double c = std::cos(theta); + double s = std::sin(theta); + double c1 = 1. - c; + double itheta = theta ? 1./theta : 0.; + + rx *= itheta; ry *= itheta; rz *= itheta; + + double rrt[] = { rx*rx, rx*ry, rx*rz, rx*ry, ry*ry, ry*rz, rx*rz, ry*rz, rz*rz }; + double _r_x_[] = { 0, -rz, ry, rz, 0, -rx, -ry, rx, 0 }; + Mat3 R; + + // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x] + // where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0] + for(int k = 0; k < 9; ++k) + R.val[k] = static_cast(c*I[k] + c1*rrt[k] + s*_r_x_[k]); + + rotation(R); + } +} + +//Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix; +template inline +void cv::Affine3::rotation(const cv::Mat& data) +{ + CV_Assert(data.type() == cv::DataType::type); + + if (data.cols == 3 && data.rows == 3) + { + Mat3 R; + data.copyTo(R); + rotation(R); + } + else if ((data.cols == 3 && data.rows == 1) || (data.cols == 1 && data.rows == 3)) + { + Vec3 _rvec; + data.reshape(1, 3).copyTo(_rvec); + rotation(_rvec); + } + else + CV_Assert(!"Input marix can be 3x3, 1x3 or 3x1"); +} + +template inline +void cv::Affine3::linear(const Mat3& L) +{ + matrix.val[0] = L.val[0]; matrix.val[1] = L.val[1]; matrix.val[ 2] = L.val[2]; + matrix.val[4] = L.val[3]; matrix.val[5] = L.val[4]; matrix.val[ 6] = L.val[5]; + matrix.val[8] = L.val[6]; matrix.val[9] = L.val[7]; matrix.val[10] = L.val[8]; +} + +template inline +void cv::Affine3::translation(const Vec3& t) +{ + matrix.val[3] = t[0]; matrix.val[7] = t[1]; matrix.val[11] = t[2]; +} + +template inline +typename cv::Affine3::Mat3 cv::Affine3::rotation() const +{ + return linear(); +} + +template inline +typename cv::Affine3::Mat3 cv::Affine3::linear() const +{ + typename cv::Affine3::Mat3 R; + R.val[0] = matrix.val[0]; R.val[1] = matrix.val[1]; R.val[2] = matrix.val[ 2]; + R.val[3] = matrix.val[4]; R.val[4] = matrix.val[5]; R.val[5] = matrix.val[ 6]; + R.val[6] = matrix.val[8]; R.val[7] = matrix.val[9]; R.val[8] = matrix.val[10]; + return R; +} + +template inline +typename cv::Affine3::Vec3 cv::Affine3::translation() const +{ + return Vec3(matrix.val[3], matrix.val[7], matrix.val[11]); +} + +template inline +typename cv::Affine3::Vec3 cv::Affine3::rvec() const +{ + cv::Vec3d w; + cv::Matx33d u, vt, R = rotation(); + cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A); + R = u * vt; + + double rx = R.val[7] - R.val[5]; + double ry = R.val[2] - R.val[6]; + double rz = R.val[3] - R.val[1]; + + double s = std::sqrt((rx*rx + ry*ry + rz*rz)*0.25); + double c = (R.val[0] + R.val[4] + R.val[8] - 1) * 0.5; + c = c > 1.0 ? 1.0 : c < -1.0 ? -1.0 : c; + double theta = acos(c); + + if( s < 1e-5 ) + { + if( c > 0 ) + rx = ry = rz = 0; + else + { + double t; + t = (R.val[0] + 1) * 0.5; + rx = std::sqrt(std::max(t, 0.0)); + t = (R.val[4] + 1) * 0.5; + ry = std::sqrt(std::max(t, 0.0)) * (R.val[1] < 0 ? -1.0 : 1.0); + t = (R.val[8] + 1) * 0.5; + rz = std::sqrt(std::max(t, 0.0)) * (R.val[2] < 0 ? -1.0 : 1.0); + + if( fabs(rx) < fabs(ry) && fabs(rx) < fabs(rz) && (R.val[5] > 0) != (ry*rz > 0) ) + rz = -rz; + theta /= std::sqrt(rx*rx + ry*ry + rz*rz); + rx *= theta; + ry *= theta; + rz *= theta; + } + } + else + { + double vth = 1/(2*s); + vth *= theta; + rx *= vth; ry *= vth; rz *= vth; + } + + return cv::Vec3d(rx, ry, rz); +} + +template inline +cv::Affine3 cv::Affine3::inv(int method) const +{ + return matrix.inv(method); +} + +template inline +cv::Affine3 cv::Affine3::rotate(const Mat3& R) const +{ + Mat3 Lc = linear(); + Vec3 tc = translation(); + Mat4 result; + result.val[12] = result.val[13] = result.val[14] = 0; + result.val[15] = 1; + + for(int j = 0; j < 3; ++j) + { + for(int i = 0; i < 3; ++i) + { + float_type value = 0; + for(int k = 0; k < 3; ++k) + value += R(j, k) * Lc(k, i); + result(j, i) = value; + } + + result(j, 3) = R.row(j).dot(tc.t()); + } + return result; +} + +template inline +cv::Affine3 cv::Affine3::rotate(const Vec3& _rvec) const +{ + return rotate(Affine3f(_rvec).rotation()); +} + +template inline +cv::Affine3 cv::Affine3::translate(const Vec3& t) const +{ + Mat4 m = matrix; + m.val[ 3] += t[0]; + m.val[ 7] += t[1]; + m.val[11] += t[2]; + return m; +} + +template inline +cv::Affine3 cv::Affine3::concatenate(const Affine3& affine) const +{ + return (*this).rotate(affine.rotation()).translate(affine.translation()); +} + +template template inline +cv::Affine3::operator Affine3() const +{ + return Affine3(matrix); +} + +template template inline +cv::Affine3 cv::Affine3::cast() const +{ + return Affine3(matrix); +} + +template inline +cv::Affine3 cv::operator*(const cv::Affine3& affine1, const cv::Affine3& affine2) +{ + return affine2.concatenate(affine1); +} + +template inline +V cv::operator*(const cv::Affine3& affine, const V& v) +{ + const typename Affine3::Mat4& m = affine.matrix; + + V r; + r.x = m.val[0] * v.x + m.val[1] * v.y + m.val[ 2] * v.z + m.val[ 3]; + r.y = m.val[4] * v.x + m.val[5] * v.y + m.val[ 6] * v.z + m.val[ 7]; + r.z = m.val[8] * v.x + m.val[9] * v.y + m.val[10] * v.z + m.val[11]; + return r; +} + +static inline +cv::Vec3f cv::operator*(const cv::Affine3f& affine, const cv::Vec3f& v) +{ + const cv::Matx44f& m = affine.matrix; + cv::Vec3f r; + r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3]; + r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7]; + r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11]; + return r; +} + +static inline +cv::Vec3d cv::operator*(const cv::Affine3d& affine, const cv::Vec3d& v) +{ + const cv::Matx44d& m = affine.matrix; + cv::Vec3d r; + r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3]; + r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7]; + r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11]; + return r; +} + + + +#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H + +template inline +cv::Affine3::Affine3(const Eigen::Transform& affine) +{ + cv::Mat(4, 4, cv::DataType::type, affine.matrix().data()).copyTo(matrix); +} + +template inline +cv::Affine3::Affine3(const Eigen::Transform& affine) +{ + Eigen::Transform a = affine; + cv::Mat(4, 4, cv::DataType::type, a.matrix().data()).copyTo(matrix); +} + +template inline +cv::Affine3::operator Eigen::Transform() const +{ + Eigen::Transform r; + cv::Mat hdr(4, 4, cv::DataType::type, r.matrix().data()); + cv::Mat(matrix, false).copyTo(hdr); + return r; +} + +template inline +cv::Affine3::operator Eigen::Transform() const +{ + return this->operator Eigen::Transform(); +} + +#endif /* defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H */ + + +#endif /* __cplusplus */ + +#endif /* __OPENCV_CORE_AFFINE3_HPP__ */ diff --git a/modules/core/include/opencv2/core/core.hpp b/modules/core/include/opencv2/core/core.hpp index cafba0f8f3..2ecb70c713 100644 --- a/modules/core/include/opencv2/core/core.hpp +++ b/modules/core/include/opencv2/core/core.hpp @@ -892,6 +892,7 @@ public: typedef Point_ Point2i; typedef Point2i Point; typedef Size_ Size2i; +typedef Size_ Size2d; typedef Size2i Size; typedef Rect_ Rect; typedef Point_ Point2f; diff --git a/modules/viz/CMakeLists.txt b/modules/viz/CMakeLists.txt new file mode 100644 index 0000000000..7ccd079216 --- /dev/null +++ b/modules/viz/CMakeLists.txt @@ -0,0 +1,11 @@ +if(NOT WITH_VTK OR NOT DEFINED HAVE_VTK OR NOT HAVE_VTK) + ocv_module_disable(viz) +endif() + +include(${VTK_USE_FILE}) +set(the_description "Viz") +ocv_define_module(viz opencv_core ${VTK_LIBRARIES}) + +if(APPLE AND BUILD_opencv_viz) + target_link_libraries(opencv_viz "-framework Cocoa") +endif() diff --git a/modules/viz/doc/images/cpw1.png b/modules/viz/doc/images/cpw1.png new file mode 100644 index 0000000000..985b1eeaff Binary files /dev/null and b/modules/viz/doc/images/cpw1.png differ diff --git a/modules/viz/doc/images/cpw2.png b/modules/viz/doc/images/cpw2.png new file mode 100644 index 0000000000..5733a6af65 Binary files /dev/null and b/modules/viz/doc/images/cpw2.png differ diff --git a/modules/viz/doc/images/cpw3.png b/modules/viz/doc/images/cpw3.png new file mode 100644 index 0000000000..585b836b66 Binary files /dev/null and b/modules/viz/doc/images/cpw3.png differ diff --git a/modules/viz/doc/images/cube_widget.png b/modules/viz/doc/images/cube_widget.png new file mode 100644 index 0000000000..ffe56811ae Binary files /dev/null and b/modules/viz/doc/images/cube_widget.png differ diff --git a/modules/viz/doc/viz.rst b/modules/viz/doc/viz.rst new file mode 100644 index 0000000000..1d8c743ad2 --- /dev/null +++ b/modules/viz/doc/viz.rst @@ -0,0 +1,9 @@ +*********************** +viz. 3D Visualizer +*********************** + +.. toctree:: + :maxdepth: 2 + + viz3d.rst + widget.rst diff --git a/modules/viz/doc/viz3d.rst b/modules/viz/doc/viz3d.rst new file mode 100644 index 0000000000..d0e24ae8e7 --- /dev/null +++ b/modules/viz/doc/viz3d.rst @@ -0,0 +1,637 @@ +Viz +=== + +.. highlight:: cpp + +This section describes 3D visualization window as well as classes and methods +that are used to interact with it. + +3D visualization window (see :ocv:class:`Viz3d`) is used to display widgets (see :ocv:class:`Widget`), and it provides +several methods to interact with scene and widgets. + +viz::makeTransformToGlobal +-------------------------- +Takes coordinate frame data and builds transform to global coordinate frame. + +.. ocv:function:: Affine3d viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0)) + + :param axis_x: X axis vector in global coordinate frame. + :param axis_y: Y axis vector in global coordinate frame. + :param axis_z: Z axis vector in global coordinate frame. + :param origin: Origin of the coordinate frame in global coordinate frame. + +This function returns affine transform that describes transformation between global coordinate frame and a given coordinate frame. + +viz::makeCameraPose +------------------- +Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation). + +.. ocv:function:: Affine3d makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir) + + :param position: Position of the camera in global coordinate frame. + :param focal_point: Focal point of the camera in global coordinate frame. + :param y_dir: Up vector of the camera in global coordinate frame. + +This function returns pose of the camera in global coordinate frame. + +viz::getWindowByName +-------------------- +Retrieves a window by its name. + +.. ocv:function:: Viz3d getWindowByName(const String &window_name) + + :param window_name: Name of the window that is to be retrieved. + +This function returns a :ocv:class:`Viz3d` object with the given name. + +.. note:: If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned. + +.. note:: Window names are automatically prefixed by "Viz - " if it is not done by the user. + + .. code-block:: cpp + + /// window and window_2 are the same windows. + viz::Viz3d window = viz::getWindowByName("myWindow"); + viz::Viz3d window_2 = viz::getWindowByName("Viz - myWindow"); + +viz::isNan +---------- +Checks **float/double** value for nan. + + .. ocv:function:: bool isNan(float x) + + .. ocv:function:: bool isNan(double x) + + :param x: return true if nan. + +Checks **vector** for nan. + + .. ocv:function:: bool isNan(const Vec<_Tp, cn>& v) + + :param v: return true if **any** of the elements of the vector is *nan*. + +Checks **point** for nan + + .. ocv:function:: bool isNan(const Point3_<_Tp>& p) + + :param p: return true if **any** of the elements of the point is *nan*. + +viz::Viz3d +---------- +.. ocv:class:: Viz3d + +The Viz3d class represents a 3D visualizer window. This class is implicitly shared. :: + + class CV_EXPORTS Viz3d + { + public: + typedef cv::Ptr Ptr; + typedef void (*KeyboardCallback)(const KeyboardEvent&, void*); + typedef void (*MouseCallback)(const MouseEvent&, void*); + + Viz3d(const String& window_name = String()); + Viz3d(const Viz3d&); + Viz3d& operator=(const Viz3d&); + ~Viz3d(); + + void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity()); + void removeWidget(const String &id); + Widget getWidget(const String &id) const; + void removeAllWidgets(); + + void setWidgetPose(const String &id, const Affine3d &pose); + void updateWidgetPose(const String &id, const Affine3d &pose); + Affine3d getWidgetPose(const String &id) const; + + void showImage(InputArray image, const Size& window_size = Size(-1, -1)); + + void setCamera(const Camera &camera); + Camera getCamera() const; + Affine3d getViewerPose(); + void setViewerPose(const Affine3d &pose); + + void resetCameraViewpoint (const String &id); + void resetCamera(); + + void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord); + void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction); + + Size getWindowSize() const; + void setWindowSize(const Size &window_size); + String getWindowName() const; + void saveScreenshot (const String &file); + void setWindowPosition (int x, int y); + void setFullScreen (bool mode); + void setBackgroundColor(const Color& color = Color::black()); + + void spin(); + void spinOnce(int time = 1, bool force_redraw = false); + bool wasStopped() const; + + void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); + void registerMouseCallback(MouseCallback callback, void* cookie = 0); + + void setRenderingProperty(const String &id, int property, double value); + double getRenderingProperty(const String &id, int property); + + + void setRepresentation(int representation); + private: + /* hidden */ + }; + +viz::Viz3d::Viz3d +----------------- +The constructors. + +.. ocv:function:: Viz3d::Viz3d(const String& window_name = String()) + + :param window_name: Name of the window. + +viz::Viz3d::showWidget +---------------------- +Shows a widget in the window. + +.. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity()) + + :param id: A unique id for the widget. + :param widget: The widget to be displayed in the window. + :param pose: Pose of the widget. + +viz::Viz3d::removeWidget +------------------------ +Removes a widget from the window. + +.. ocv:function:: void removeWidget(const String &id) + + :param id: The id of the widget that will be removed. + +viz::Viz3d::getWidget +--------------------- +Retrieves a widget from the window. A widget is implicitly shared; +that is, if the returned widget is modified, the changes will be +immediately visible in the window. + +.. ocv:function:: Widget getWidget(const String &id) const + + :param id: The id of the widget that will be returned. + +viz::Viz3d::removeAllWidgets +---------------------------- +Removes all widgets from the window. + +.. ocv:function:: void removeAllWidgets() + +viz::Viz3d::showImage +--------------------- +Removed all widgets and displays image scaled to whole window area. + +.. ocv:function:: void showImage(InputArray image, const Size& window_size = Size(-1, -1)) + + :param image: Image to be displayed. + :param size: Size of Viz3d window. Default value means no change. + +viz::Viz3d::setWidgetPose +------------------------- +Sets pose of a widget in the window. + +.. ocv:function:: void setWidgetPose(const String &id, const Affine3d &pose) + + :param id: The id of the widget whose pose will be set. + :param pose: The new pose of the widget. + +viz::Viz3d::updateWidgetPose +---------------------------- +Updates pose of a widget in the window by pre-multiplying its current pose. + +.. ocv:function:: void updateWidgetPose(const String &id, const Affine3d &pose) + + :param id: The id of the widget whose pose will be updated. + :param pose: The pose that the current pose of the widget will be pre-multiplied by. + +viz::Viz3d::getWidgetPose +------------------------- +Returns the current pose of a widget in the window. + +.. ocv:function:: Affine3d getWidgetPose(const String &id) const + + :param id: The id of the widget whose pose will be returned. + +viz::Viz3d::setCamera +--------------------- +Sets the intrinsic parameters of the viewer using Camera. + +.. ocv:function:: void setCamera(const Camera &camera) + + :param camera: Camera object wrapping intrinsinc parameters. + +viz::Viz3d::getCamera +--------------------- +Returns a camera object that contains intrinsic parameters of the current viewer. + +.. ocv:function:: Camera getCamera() const + +viz::Viz3d::getViewerPose +------------------------- +Returns the current pose of the viewer. + +..ocv:function:: Affine3d getViewerPose() + +viz::Viz3d::setViewerPose +------------------------- +Sets pose of the viewer. + +.. ocv:function:: void setViewerPose(const Affine3d &pose) + + :param pose: The new pose of the viewer. + +viz::Viz3d::resetCameraViewpoint +-------------------------------- +Resets camera viewpoint to a 3D widget in the scene. + +.. ocv:function:: void resetCameraViewpoint (const String &id) + + :param pose: Id of a 3D widget. + +viz::Viz3d::resetCamera +----------------------- +Resets camera. + +.. ocv:function:: void resetCamera() + +viz::Viz3d::convertToWindowCoordinates +-------------------------------------- +Transforms a point in world coordinate system to window coordinate system. + +.. ocv:function:: void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) + + :param pt: Point in world coordinate system. + :param window_coord: Output point in window coordinate system. + +viz::Viz3d::converTo3DRay +------------------------- +Transforms a point in window coordinate system to a 3D ray in world coordinate system. + +.. ocv:function:: void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) + + :param window_coord: Point in window coordinate system. + :param origin: Output origin of the ray. + :param direction: Output direction of the ray. + +viz::Viz3d::getWindowSize +------------------------- +Returns the current size of the window. + +.. ocv:function:: Size getWindowSize() const + +viz::Viz3d::setWindowSize +------------------------- +Sets the size of the window. + +.. ocv:function:: void setWindowSize(const Size &window_size) + + :param window_size: New size of the window. + +viz::Viz3d::getWindowName +------------------------- +Returns the name of the window which has been set in the constructor. + +.. ocv:function:: String getWindowName() const + +viz::Viz3d::saveScreenshot +-------------------------- +Saves screenshot of the current scene. + +.. ocv:function:: void saveScreenshot(const String &file) + + :param file: Name of the file. + +viz::Viz3d::setWindowPosition +----------------------------- +Sets the position of the window in the screen. + +.. ocv:function:: void setWindowPosition(int x, int y) + + :param x: x coordinate of the window + :param y: y coordinate of the window + +viz::Viz3d::setFullScreen +------------------------- +Sets or unsets full-screen rendering mode. + +.. ocv:function:: void setFullScreen(bool mode) + + :param mode: If true, window will use full-screen mode. + +viz::Viz3d::setBackgroundColor +------------------------------ +Sets background color. + +.. ocv:function:: void setBackgroundColor(const Color& color = Color::black()) + +viz::Viz3d::spin +---------------- +The window renders and starts the event loop. + +.. ocv:function:: void spin() + +viz::Viz3d::spinOnce +-------------------- +Starts the event loop for a given time. + +.. ocv:function:: void spinOnce(int time = 1, bool force_redraw = false) + + :param time: Amount of time in milliseconds for the event loop to keep running. + :param force_draw: If true, window renders. + +viz::Viz3d::wasStopped +---------------------- +Returns whether the event loop has been stopped. + +.. ocv:function:: bool wasStopped() + +viz::Viz3d::registerKeyboardCallback +------------------------------------ +Sets keyboard handler. + +.. ocv:function:: void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0) + + :param callback: Keyboard callback ``(void (*KeyboardCallbackFunction(const KeyboardEvent&, void*))``. + :param cookie: The optional parameter passed to the callback. + +viz::Viz3d::registerMouseCallback +--------------------------------- +Sets mouse handler. + +.. ocv:function:: void registerMouseCallback(MouseCallback callback, void* cookie = 0) + + :param callback: Mouse callback ``(void (*MouseCallback)(const MouseEvent&, void*))``. + :param cookie: The optional parameter passed to the callback. + +viz::Viz3d::setRenderingProperty +-------------------------------- +Sets rendering property of a widget. + +.. ocv:function:: void setRenderingProperty(const String &id, int property, double value) + + :param id: Id of the widget. + :param property: Property that will be modified. + :param value: The new value of the property. + + **Rendering property** can be one of the following: + + * **POINT_SIZE** + * **OPACITY** + * **LINE_WIDTH** + * **FONT_SIZE** + * **REPRESENTATION**: Expected values are + * **REPRESENTATION_POINTS** + * **REPRESENTATION_WIREFRAME** + * **REPRESENTATION_SURFACE** + * **IMMEDIATE_RENDERING**: + * Turn on immediate rendering by setting the value to ``1``. + * Turn off immediate rendering by setting the value to ``0``. + * **SHADING**: Expected values are + * **SHADING_FLAT** + * **SHADING_GOURAUD** + * **SHADING_PHONG** + +viz::Viz3d::getRenderingProperty +-------------------------------- +Returns rendering property of a widget. + +.. ocv:function:: double getRenderingProperty(const String &id, int property) + + :param id: Id of the widget. + :param property: Property. + + **Rendering property** can be one of the following: + + * **POINT_SIZE** + * **OPACITY** + * **LINE_WIDTH** + * **FONT_SIZE** + * **REPRESENTATION**: Expected values are + * **REPRESENTATION_POINTS** + * **REPRESENTATION_WIREFRAME** + * **REPRESENTATION_SURFACE** + * **IMMEDIATE_RENDERING**: + * Turn on immediate rendering by setting the value to ``1``. + * Turn off immediate rendering by setting the value to ``0``. + * **SHADING**: Expected values are + * **SHADING_FLAT** + * **SHADING_GOURAUD** + * **SHADING_PHONG** + +viz::Viz3d::setRepresentation +----------------------------- +Sets geometry representation of the widgets to surface, wireframe or points. + +.. ocv:function:: void setRepresentation(int representation) + + :param representation: Geometry representation which can be one of the following: + + * **REPRESENTATION_POINTS** + * **REPRESENTATION_WIREFRAME** + * **REPRESENTATION_SURFACE** + +viz::Color +---------- +.. ocv:class:: Color + +This class a represents BGR color. :: + + class CV_EXPORTS Color : public Scalar + { + public: + Color(); + Color(double gray); + Color(double blue, double green, double red); + + Color(const Scalar& color); + + static Color black(); + static Color blue(); + static Color green(); + static Color cyan(); + + static Color red(); + static Color magenta(); + static Color yellow(); + static Color white(); + + static Color gray(); + }; + +viz::Mesh +----------- +.. ocv:class:: Mesh + +This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. :: + + class CV_EXPORTS Mesh + { + public: + + Mat cloud, colors, normals; + + //! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...) + //! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud. + Mat polygons; + + //! Loads mesh from a given ply file + static Mesh load(const String& file); + }; + +viz::Mesh::load +--------------------- +Loads a mesh from a ``ply`` file. + +.. ocv:function:: static Mesh load(const String& file) + + :param file: File name (for no only PLY is supported) + + +viz::KeyboardEvent +------------------ +.. ocv:class:: KeyboardEvent + +This class represents a keyboard event. :: + + class CV_EXPORTS KeyboardEvent + { + public: + enum { ALT = 1, CTRL = 2, SHIFT = 4 }; + enum Action { KEY_UP = 0, KEY_DOWN = 1 }; + + KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers); + + Action action; + String symbol; + unsigned char code; + int modifiers; + }; + +viz::KeyboardEvent::KeyboardEvent +--------------------------------- +Constructs a KeyboardEvent. + +.. ocv:function:: KeyboardEvent (Action action, const String& symbol, unsigned char code, Modifiers modifiers) + + :param action: Signals if key is pressed or released. + :param symbol: Name of the key. + :param code: Code of the key. + :param modifiers: Signals if ``alt``, ``ctrl`` or ``shift`` are pressed or their combination. + + +viz::MouseEvent +--------------- +.. ocv:class:: MouseEvent + +This class represents a mouse event. :: + + class CV_EXPORTS MouseEvent + { + public: + enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ; + enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ; + + MouseEvent(const Type& type, const MouseButton& button, const Point& pointer, int modifiers); + + Type type; + MouseButton button; + Point pointer; + int modifiers; + }; + +viz::MouseEvent::MouseEvent +--------------------------- +Constructs a MouseEvent. + +.. ocv:function:: MouseEvent (const Type& type, const MouseButton& button, const Point& p, Modifiers modifiers) + + :param type: Type of the event. This can be **MouseMove**, **MouseButtonPress**, **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**. + :param button: Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, **RightButton**, **VScroll**. + :param p: Position of the event. + :param modifiers: Signals if ``alt``, ``ctrl`` or ``shift`` are pressed or their combination. + +viz::Camera +----------- +.. ocv:class:: Camera + +This class wraps intrinsic parameters of a camera. It provides several constructors +that can extract the intrinsic parameters from ``field of view``, ``intrinsic matrix`` and +``projection matrix``. :: + + class CV_EXPORTS Camera + { + public: + Camera(double f_x, double f_y, double c_x, double c_y, const Size &window_size); + Camera(const Vec2d &fov, const Size &window_size); + Camera(const Matx33d &K, const Size &window_size); + Camera(const Matx44d &proj, const Size &window_size); + + inline const Vec2d & getClip() const; + inline void setClip(const Vec2d &clip); + + inline const Size & getWindowSize() const; + void setWindowSize(const Size &window_size); + + inline const Vec2d & getFov() const; + inline void setFov(const Vec2d & fov); + + inline const Vec2d & getPrincipalPoint() const; + inline const Vec2d & getFocalLength() const; + + void computeProjectionMatrix(Matx44d &proj) const; + + static Camera KinectCamera(const Size &window_size); + + private: + /* hidden */ + }; + +viz::Camera::Camera +------------------- +Constructs a Camera. + +.. ocv:function:: Camera(double f_x, double f_y, double c_x, double c_y, const Size &window_size) + + :param f_x: Horizontal focal length. + :param f_y: Vertical focal length. + :param c_x: x coordinate of the principal point. + :param c_y: y coordinate of the principal point. + :param window_size: Size of the window. This together with focal length and principal point determines the field of view. + +.. ocv:function:: Camera(const Vec2d &fov, const Size &window_size) + + :param fov: Field of view (horizontal, vertical) + :param window_size: Size of the window. + + Principal point is at the center of the window by default. + +.. ocv:function:: Camera(const Matx33d &K, const Size &window_size) + + :param K: Intrinsic matrix of the camera. + :param window_size: Size of the window. This together with intrinsic matrix determines the field of view. + +.. ocv:function:: Camera(const Matx44d &proj, const Size &window_size) + + :param proj: Projection matrix of the camera. + :param window_size: Size of the window. This together with projection matrix determines the field of view. + +viz::Camera::computeProjectionMatrix +------------------------------------ +Computes projection matrix using intrinsic parameters of the camera. + +.. ocv:function:: void computeProjectionMatrix(Matx44d &proj) const + + :param proj: Output projection matrix. + +viz::Camera::KinectCamera +------------------------- +Creates a Kinect Camera. + +.. ocv:function:: static Camera KinectCamera(const Size &window_size) + + :param window_size: Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view. diff --git a/modules/viz/doc/widget.rst b/modules/viz/doc/widget.rst new file mode 100644 index 0000000000..008e0e68a5 --- /dev/null +++ b/modules/viz/doc/widget.rst @@ -0,0 +1,1019 @@ +Widget +====== + +.. highlight:: cpp + +In this section, the widget framework is explained. Widgets represent +2D or 3D objects, varying from simple ones such as lines to complex one such as +point clouds and meshes. + +Widgets are **implicitly shared**. Therefore, one can add a widget to the scene, +and modify the widget without re-adding the widget. + +.. code-block:: cpp + + ... + /// Create a cloud widget + viz::WCloud cw(cloud, viz::Color::red()); + /// Display it in a window + myWindow.showWidget("CloudWidget1", cw); + /// Modify it, and it will be modified in the window. + cw.setColor(viz::Color::yellow()); + ... + +viz::Widget +----------- +.. ocv:class:: Widget + +Base class of all widgets. Widget is implicitly shared. :: + + class CV_EXPORTS Widget + { + public: + Widget(); + Widget(const Widget& other); + Widget& operator=(const Widget& other); + ~Widget(); + + //! Create a widget directly from ply file + static Widget fromPlyFile(const String &file_name); + + //! Rendering properties of this particular widget + void setRenderingProperty(int property, double value); + double getRenderingProperty(int property) const; + + //! Casting between widgets + template _W cast(); + private: + /* hidden */ + }; + +viz::Widget::fromPlyFile +------------------------ +Creates a widget from ply file. + +.. ocv:function:: static Widget fromPlyFile(const String &file_name) + + :param file_name: Ply file name. + +viz::Widget::setRenderingProperty +--------------------------------- +Sets rendering property of the widget. + +.. ocv:function:: void setRenderingProperty(int property, double value) + + :param property: Property that will be modified. + :param value: The new value of the property. + + **Rendering property** can be one of the following: + + * **POINT_SIZE** + * **OPACITY** + * **LINE_WIDTH** + * **FONT_SIZE** + * **REPRESENTATION**: Expected values are + * **REPRESENTATION_POINTS** + * **REPRESENTATION_WIREFRAME** + * **REPRESENTATION_SURFACE** + * **IMMEDIATE_RENDERING**: + * Turn on immediate rendering by setting the value to ``1``. + * Turn off immediate rendering by setting the value to ``0``. + * **SHADING**: Expected values are + * **SHADING_FLAT** + * **SHADING_GOURAUD** + * **SHADING_PHONG** + +viz::Widget::getRenderingProperty +--------------------------------- +Returns rendering property of the widget. + +.. ocv:function:: double getRenderingProperty(int property) const + + :param property: Property. + + **Rendering property** can be one of the following: + + * **POINT_SIZE** + * **OPACITY** + * **LINE_WIDTH** + * **FONT_SIZE** + * **REPRESENTATION**: Expected values are + * **REPRESENTATION_POINTS** + * **REPRESENTATION_WIREFRAME** + * **REPRESENTATION_SURFACE** + * **IMMEDIATE_RENDERING**: + * Turn on immediate rendering by setting the value to ``1``. + * Turn off immediate rendering by setting the value to ``0``. + * **SHADING**: Expected values are + * **SHADING_FLAT** + * **SHADING_GOURAUD** + * **SHADING_PHONG** + +viz::Widget::cast +----------------- +Casts a widget to another. + +.. ocv:function:: template _W cast() + +.. code-block:: cpp + + // Create a sphere widget + viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f); + // Cast sphere widget to cloud widget + viz::WCloud cw = sw.cast(); + +.. note:: 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets. + +viz::WidgetAccessor +------------------- +.. ocv:class:: WidgetAccessor + +This class is for users who want to develop their own widgets using VTK library API. :: + + struct CV_EXPORTS WidgetAccessor + { + static vtkSmartPointer getProp(const Widget &widget); + static void setProp(Widget &widget, vtkSmartPointer prop); + }; + +viz::WidgetAccessor::getProp +---------------------------- +Returns ``vtkProp`` of a given widget. + +.. ocv:function:: static vtkSmartPointer getProp(const Widget &widget) + + :param widget: Widget whose ``vtkProp`` is to be returned. + +.. note:: vtkProp has to be down cast appropriately to be modified. + + .. code-block:: cpp + + vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget)); + +viz::WidgetAccessor::setProp +---------------------------- +Sets ``vtkProp`` of a given widget. + +.. ocv:function:: static void setProp(Widget &widget, vtkSmartPointer prop) + + :param widget: Widget whose ``vtkProp`` is to be set. + :param prop: A ``vtkProp``. + +viz::Widget3D +------------- +.. ocv:class:: Widget3D + +Base class of all 3D widgets. :: + + class CV_EXPORTS Widget3D : public Widget + { + public: + Widget3D() {} + + //! widget position manipulation, i.e. place where it is rendered. + void setPose(const Affine3d &pose); + void updatePose(const Affine3d &pose); + Affine3d getPose() const; + + //! updates internal widget data, i.e. points, normals, etc. + void applyTransform(const Affine3d &transform); + + void setColor(const Color &color); + + }; + +viz::Widget3D::setPose +---------------------- +Sets pose of the widget. + +.. ocv:function:: void setPose(const Affine3d &pose) + + :param pose: The new pose of the widget. + +viz::Widget3D::updateWidgetPose +------------------------------- +Updates pose of the widget by pre-multiplying its current pose. + +.. ocv:function:: void updateWidgetPose(const Affine3d &pose) + + :param pose: The pose that the current pose of the widget will be pre-multiplied by. + +viz::Widget3D::getPose +---------------------- +Returns the current pose of the widget. + +.. ocv:function:: Affine3d getWidgetPose() const + + +viz::Widget3D::applyTransform +------------------------------- +Transforms internal widget data (i.e. points, normals) using the given transform. + +.. ocv:function:: void applyTransform(const Affine3d &transform) + + :param transform: Specified transformation to apply. + +viz::Widget3D::setColor +----------------------- +Sets the color of the widget. + +.. ocv:function:: void setColor(const Color &color) + + :param color: color of type :ocv:class:`Color` + +viz::Widget2D +------------- +.. ocv:class:: Widget2D + +Base class of all 2D widgets. :: + + class CV_EXPORTS Widget2D : public Widget + { + public: + Widget2D() {} + + void setColor(const Color &color); + }; + +viz::Widget2D::setColor +----------------------- +Sets the color of the widget. + +.. ocv:function:: void setColor(const Color &color) + + :param color: color of type :ocv:class:`Color` + +viz::WLine +---------- +.. ocv:class:: WLine + +This 3D Widget defines a finite line. :: + + class CV_EXPORTS WLine : public Widget3D + { + public: + WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()); + }; + +viz::WLine::WLine +----------------- +Constructs a WLine. + +.. ocv:function:: WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()) + + :param pt1: Start point of the line. + :param pt2: End point of the line. + :param color: :ocv:class:`Color` of the line. + +viz::WPlane +----------- +.. ocv:class:: WPlane + +This 3D Widget defines a finite plane. :: + + class CV_EXPORTS WPlane : public Widget3D + { + public: + //! created default plane with center point at origin and normal oriented along z-axis + WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); + + //! repositioned plane + WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); + }; + +viz::WPlane::WPlane +------------------- +Constructs a default plane with center point at origin and normal oriented along z-axis. + +.. ocv:function:: WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()) + + :param size: Size of the plane + :param color: :ocv:class:`Color` of the plane. + +viz::WPlane::WPlane +------------------- +Constructs a repositioned plane + +.. ocv:function:: WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()) + + :param center: Center of the plane + :param normal: Plane normal orientation + :param new_yaxis: Up-vector. New orientation of plane y-axis. + :param color: :ocv:class:`Color` of the plane. + +viz::WSphere +------------ +.. ocv:class:: WSphere + +This 3D Widget defines a sphere. :: + + class CV_EXPORTS WSphere : public Widget3D + { + public: + WSphere(const cv::Point3f ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white()) + }; + +viz::WSphere::WSphere +--------------------- +Constructs a WSphere. + +.. ocv:function:: WSphere(const cv::Point3f ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white()) + + :param center: Center of the sphere. + :param radius: Radius of the sphere. + :param sphere_resolution: Resolution of the sphere. + :param color: :ocv:class:`Color` of the sphere. + +viz::WArrow +---------------- +.. ocv:class:: WArrow + +This 3D Widget defines an arrow. :: + + class CV_EXPORTS WArrow : public Widget3D + { + public: + WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white()); + }; + +viz::WArrow::WArrow +----------------------------- +Constructs an WArrow. + +.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white()) + + :param pt1: Start point of the arrow. + :param pt2: End point of the arrow. + :param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly. + :param color: :ocv:class:`Color` of the arrow. + +Arrow head is located at the end point of the arrow. + +viz::WCircle +----------------- +.. ocv:class:: WCircle + +This 3D Widget defines a circle. :: + + class CV_EXPORTS WCircle : public Widget3D + { + public: + //! creates default planar circle centred at origin with plane normal along z-axis + WCircle(double radius, double thickness = 0.01, const Color &color = Color::white()); + + //! creates repositioned circle + WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white()); + }; + +viz::WCircle::WCircle +------------------------------- +Constructs default planar circle centred at origin with plane normal along z-axis + +.. ocv:function:: WCircle(double radius, double thickness = 0.01, const Color &color = Color::white()) + + :param radius: Radius of the circle. + :param thickness: Thickness of the circle. + :param color: :ocv:class:`Color` of the circle. + +viz::WCircle::WCircle +------------------------------- +Constructs repositioned planar circle. + +.. ocv:function:: WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white()) + + :param radius: Radius of the circle. + :param center: Center of the circle. + :param normal: Normal of the plane in which the circle lies. + :param thickness: Thickness of the circle. + :param color: :ocv:class:`Color` of the circle. + +viz::WCone +------------------------------- +.. ocv:class:: WCone + +This 3D Widget defines a cone. :: + + class CV_EXPORTS WCone : public Widget3D + { + public: + //! create default cone, oriented along x-axis with center of its base located at origin + WCone(double lenght, double radius, int resolution = 6.0, const Color &color = Color::white()); + + //! creates repositioned cone + WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white()); + }; + +viz::WCone::WCone +------------------------------- +Constructs default cone oriented along x-axis with center of its base located at origin + +.. ocv:function:: WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white()) + + :param length: Length of the cone. + :param radius: Radius of the cone. + :param resolution: Resolution of the cone. + :param color: :ocv:class:`Color` of the cone. + +viz::WCone::WCone +------------------------------- +Constructs repositioned planar cone. + +.. ocv:function:: WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white()) + + :param radius: Radius of the cone. + :param center: Center of the cone base. + :param tip: Tip of the cone. + :param resolution: Resolution of the cone. + :param color: :ocv:class:`Color` of the cone. + +viz::WCylinder +-------------- +.. ocv:class:: WCylinder + +This 3D Widget defines a cylinder. :: + + class CV_EXPORTS WCylinder : public Widget3D + { + public: + WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white()); + }; + +viz::WCylinder::WCylinder +----------------------------------- +Constructs a WCylinder. + +.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white()) + + :param axis_point1: A point1 on the axis of the cylinder. + :param axis_point2: A point2 on the axis of the cylinder. + :param radius: Radius of the cylinder. + :param numsides: Resolution of the cylinder. + :param color: :ocv:class:`Color` of the cylinder. + +viz::WCube +---------- +.. ocv:class:: WCube + +This 3D Widget defines a cube. :: + + class CV_EXPORTS WCube : public Widget3D + { + public: + WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()); + }; + +viz::WCube::WCube +--------------------------- +Constructs a WCube. + +.. ocv:function:: WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()) + + :param pt_min: Specifies minimum point of the bounding box. + :param pt_max: Specifies maximum point of the bounding box. + :param wire_frame: If true, cube is represented as wireframe. + :param color: :ocv:class:`Color` of the cube. + +.. image:: images/cube_widget.png + :alt: Cube Widget + :align: center + +viz::WCoordinateSystem +---------------------- +.. ocv:class:: WCoordinateSystem + +This 3D Widget represents a coordinate system. :: + + class CV_EXPORTS WCoordinateSystem : public Widget3D + { + public: + WCoordinateSystem(double scale = 1.0); + }; + +viz::WCoordinateSystem::WCoordinateSystem +--------------------------------------------------- +Constructs a WCoordinateSystem. + +.. ocv:function:: WCoordinateSystem(double scale = 1.0) + + :param scale: Determines the size of the axes. + +viz::WPolyLine +-------------- +.. ocv:class:: WPolyLine + +This 3D Widget defines a poly line. :: + + class CV_EXPORTS WPolyLine : public Widget3D + { + public: + WPolyLine(InputArray points, const Color &color = Color::white()); + }; + +viz::WPolyLine::WPolyLine +----------------------------------- +Constructs a WPolyLine. + +.. ocv:function:: WPolyLine(InputArray points, const Color &color = Color::white()) + + :param points: Point set. + :param color: :ocv:class:`Color` of the poly line. + +viz::WGrid +---------- +.. ocv:class:: WGrid + +This 3D Widget defines a grid. :: + + class CV_EXPORTS WGrid : public Widget3D + { + public: + //! Creates grid at the origin and normal oriented along z-axis + WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); + + //! Creates repositioned grid + WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, + const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); + }; + +viz::WGrid::WGrid +--------------------------- +Constructs a WGrid. + +.. ocv:function:: WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()) + + :param cells: Number of cell columns and rows, respectively. + :param cells_spacing: Size of each cell, respectively. + :param color: :ocv:class:`Color` of the grid. + +.. ocv:function: WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, Vec2i &cells, const Vec2d &cells_spacing, const Color &color; + + :param center: Center of the grid + :param normal: Grid normal orientation + :param new_yaxis: Up-vector. New orientation of grid y-axis. + :param cells: Number of cell columns and rows, respectively. + :param cells_spacing: Size of each cell, respectively. + :param color: :ocv:class:`Color` of the grid.. + +viz::WText3D +------------ +.. ocv:class:: WText3D + +This 3D Widget represents 3D text. The text always faces the camera. :: + + class CV_EXPORTS WText3D : public Widget3D + { + public: + WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white()); + + void setText(const String &text); + String getText() const; + }; + +viz::WText3D::WText3D +------------------------------- +Constructs a WText3D. + +.. ocv:function:: WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white()) + + :param text: Text content of the widget. + :param position: Position of the text. + :param text_scale: Size of the text. + :param face_camera: If true, text always faces the camera. + :param color: :ocv:class:`Color` of the text. + +viz::WText3D::setText +--------------------- +Sets the text content of the widget. + +.. ocv:function:: void setText(const String &text) + + :param text: Text content of the widget. + +viz::WText3D::getText +--------------------- +Returns the current text content of the widget. + +.. ocv:function:: String getText() const + +viz::WText +---------- +.. ocv:class:: WText + +This 2D Widget represents text overlay. :: + + class CV_EXPORTS WText : public Widget2D + { + public: + WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()); + + void setText(const String &text); + String getText() const; + }; + +viz::WText::WText +----------------- +Constructs a WText. + +.. ocv:function:: WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()) + + :param text: Text content of the widget. + :param pos: Position of the text. + :param font_size: Font size. + :param color: :ocv:class:`Color` of the text. + +viz::WText::setText +------------------- +Sets the text content of the widget. + +.. ocv:function:: void setText(const String &text) + + :param text: Text content of the widget. + +viz::WText::getText +------------------- +Returns the current text content of the widget. + +.. ocv:function:: String getText() const + +viz::WImageOverlay +------------------ +.. ocv:class:: WImageOverlay + +This 2D Widget represents an image overlay. :: + + class CV_EXPORTS WImageOverlay : public Widget2D + { + public: + WImageOverlay(InputArray image, const Rect &rect); + + void setImage(InputArray image); + }; + +viz::WImageOverlay::WImageOverlay +--------------------------------- +Constructs an WImageOverlay. + +.. ocv:function:: WImageOverlay(InputArray image, const Rect &rect) + + :param image: BGR or Gray-Scale image. + :param rect: Image is scaled and positioned based on rect. + +viz::WImageOverlay::setImage +---------------------------- +Sets the image content of the widget. + +.. ocv:function:: void setImage(InputArray image) + + :param image: BGR or Gray-Scale image. + +viz::WImage3D +------------- +.. ocv:class:: WImage3D + +This 3D Widget represents an image in 3D space. :: + + class CV_EXPORTS WImage3D : public Widget3D + { + public: + //! Creates 3D image at the origin + WImage3D(InputArray image, const Size2d &size); + //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation + WImage3D(InputArray image, const Size2d &size, const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector); + + void setImage(InputArray image); + }; + +viz::WImage3D::WImage3D +----------------------- +Constructs an WImage3D. + +.. ocv:function:: WImage3D(InputArray image, const Size2d &size) + + :param image: BGR or Gray-Scale image. + :param size: Size of the image. + +.. ocv:function:: WImage3D(InputArray image, const Size2d &size, const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector) + + :param position: Position of the image. + :param normal: Normal of the plane that represents the image. + :param up_vector: Determines orientation of the image. + :param image: BGR or Gray-Scale image. + :param size: Size of the image. + +viz::WImage3D::setImage +----------------------- +Sets the image content of the widget. + +.. ocv:function:: void setImage(InputArray image) + + :param image: BGR or Gray-Scale image. + +viz::WCameraPosition +-------------------- +.. ocv:class:: WCameraPosition + +This 3D Widget represents camera position in a scene by its axes or viewing frustum. :: + + class CV_EXPORTS WCameraPosition : public Widget3D + { + public: + //! Creates camera coordinate frame (axes) at the origin + WCameraPosition(double scale = 1.0); + //! Creates frustum based on the intrinsic marix K at the origin + WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white()); + //! Creates frustum based on the field of view at the origin + WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white()); + //! Creates frustum and display given image at the far plane + WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white()); + //! Creates frustum and display given image at the far plane + WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white()); + }; + +viz::WCameraPosition::WCameraPosition +------------------------------------- +Constructs a WCameraPosition. + +- **Display camera coordinate frame.** + + .. ocv:function:: WCameraPosition(double scale = 1.0) + + Creates camera coordinate frame at the origin. + + .. image:: images/cpw1.png + :alt: Camera coordinate frame + :align: center + +- **Display the viewing frustum.** + + .. ocv:function:: WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white()) + + :param K: Intrinsic matrix of the camera. + :param scale: Scale of the frustum. + :param color: :ocv:class:`Color` of the frustum. + + Creates viewing frustum of the camera based on its intrinsic matrix K. + + .. ocv:function:: WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white()) + + :param fov: Field of view of the camera (horizontal, vertical). + :param scale: Scale of the frustum. + :param color: :ocv:class:`Color` of the frustum. + + Creates viewing frustum of the camera based on its field of view fov. + + .. image:: images/cpw2.png + :alt: Camera viewing frustum + :align: center + +- **Display image on the far plane of the viewing frustum.** + + .. ocv:function:: WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white()) + + :param K: Intrinsic matrix of the camera. + :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. + :param scale: Scale of the frustum and image. + :param color: :ocv:class:`Color` of the frustum. + + Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane. + + .. ocv:function:: WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white()) + + :param fov: Field of view of the camera (horizontal, vertical). + :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. + :param scale: Scale of the frustum and image. + :param color: :ocv:class:`Color` of the frustum. + + Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane. + + .. image:: images/cpw3.png + :alt: Camera viewing frustum with image + :align: center + +viz::WTrajectory +---------------- +.. ocv:class:: WTrajectory + +This 3D Widget represents a trajectory. :: + + class CV_EXPORTS WTrajectory : public Widget3D + { + public: + enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH}; + + //! Displays trajectory of the given path either by coordinate frames or polyline + WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white(),; + }; + +viz::WTrajectory::WTrajectory +----------------------------- +Constructs a WTrajectory. + +.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white()) + + :param path: List of poses on a trajectory. Takes std::vector> with T == [float | double] + :param display_mode: Display mode. This can be PATH, FRAMES, and BOTH. + :param scale: Scale of the frames. Polyline is not affected. + :param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected. + + Displays trajectory of the given path as follows: + + * PATH : Displays a poly line that represents the path. + * FRAMES : Displays coordinate frames at each pose. + * PATH & FRAMES : Displays both poly line and coordinate frames. + +viz::WTrajectoryFrustums +------------------------ +.. ocv:class:: WTrajectoryFrustums + +This 3D Widget represents a trajectory. :: + + class CV_EXPORTS WTrajectoryFrustums : public Widget3D + { + public: + //! Displays trajectory of the given path by frustums + WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white()); + //! Displays trajectory of the given path by frustums + WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white()); + }; + +viz::WTrajectoryFrustums::WTrajectoryFrustums +--------------------------------------------- +Constructs a WTrajectoryFrustums. + +.. ocv:function:: WTrajectoryFrustums(const std::vector &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white()) + + :param path: List of poses on a trajectory. Takes std::vector> with T == [float | double] + :param K: Intrinsic matrix of the camera. + :param scale: Scale of the frustums. + :param color: :ocv:class:`Color` of the frustums. + + Displays frustums at each pose of the trajectory. + +.. ocv:function:: WTrajectoryFrustums(const std::vector &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white()) + + :param path: List of poses on a trajectory. Takes std::vector> with T == [float | double] + :param fov: Field of view of the camera (horizontal, vertical). + :param scale: Scale of the frustums. + :param color: :ocv:class:`Color` of the frustums. + + Displays frustums at each pose of the trajectory. + +viz::WTrajectorySpheres +----------------------- +.. ocv:class:: WTrajectorySpheres + +This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines +represent the direction from previous position to the current. :: + + class CV_EXPORTS WTrajectorySpheres : public Widget3D + { + public: + WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007, + const Color &from = Color::red(), const Color &to = Color::white()); + }; + +viz::WTrajectorySpheres::WTrajectorySpheres +------------------------------------------- +Constructs a WTrajectorySpheres. + +.. ocv:function:: WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007, const Color &from = Color::red(), const Color &to = Color::white()) + + :param path: List of poses on a trajectory. Takes std::vector> with T == [float | double] + :param line_length: Max length of the lines which point to previous position + :param sphere_radius: Radius of the spheres. + :param from: :ocv:class:`Color` for first sphere. + :param to: :ocv:class:`Color` for last sphere. Intermediate spheres will have interpolated color. + +viz::WCloud +----------- +.. ocv:class:: WCloud + +This 3D Widget defines a point cloud. :: + + class CV_EXPORTS WCloud : public Widget3D + { + public: + //! Each point in cloud is mapped to a color in colors + WCloud(InputArray cloud, InputArray colors); + //! All points in cloud have the same color + WCloud(InputArray cloud, const Color &color = Color::white()); + }; + +viz::WCloud::WCloud +------------------- +Constructs a WCloud. + +.. ocv:function:: WCloud(InputArray cloud, InputArray colors) + + :param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. + :param colors: Set of colors. It has to be of the same size with cloud. + + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + +.. ocv:function:: WCloud(InputArray cloud, const Color &color = Color::white()) + + :param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. + :param color: A single :ocv:class:`Color` for the whole cloud. + + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + +.. note:: In case there are four channels in the cloud, fourth channel is ignored. + +viz::WCloudCollection +--------------------- +.. ocv:class:: WCloudCollection + +This 3D Widget defines a collection of clouds. :: + + class CV_EXPORTS WCloudCollection : public Widget3D + { + public: + WCloudCollection(); + + //! Each point in cloud is mapped to a color in colors + void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity()); + //! All points in cloud have the same color + void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity()); + }; + +viz::WCloudCollection::WCloudCollection +--------------------------------------- +Constructs a WCloudCollection. + +.. ocv:function:: WCloudCollection() + +viz::WCloudCollection::addCloud +------------------------------- +Adds a cloud to the collection. + +.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity()) + + :param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. + :param colors: Set of colors. It has to be of the same size with cloud. + :param pose: Pose of the cloud. + + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + +.. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity()) + + :param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. + :param colors: A single :ocv:class:`Color` for the whole cloud. + :param pose: Pose of the cloud. + + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + +.. note:: In case there are four channels in the cloud, fourth channel is ignored. + +viz::WCloudNormals +------------------ +.. ocv:class:: WCloudNormals + +This 3D Widget represents normals of a point cloud. :: + + class CV_EXPORTS WCloudNormals : public Widget3D + { + public: + WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white()); + }; + +viz::WCloudNormals::WCloudNormals +--------------------------------- +Constructs a WCloudNormals. + +.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white()) + + :param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. + :param normals: A set of normals that has to be of same type with cloud. + :param level: Display only every ``level`` th normal. + :param scale: Scale of the arrows that represent normals. + :param color: :ocv:class:`Color` of the arrows that represent normals. + +.. note:: In case there are four channels in the cloud, fourth channel is ignored. + +viz::WMesh +---------- +.. ocv:class:: WMesh + +This 3D Widget defines a mesh. :: + + class CV_EXPORTS WMesh : public Widget3D + { + public: + WMesh(const Mesh &mesh); + WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray()); + }; + +viz::WMesh::WMesh +----------------- +Constructs a WMesh. + +.. ocv:function:: WMesh(const Mesh &mesh) + + :param mesh: :ocv:class:`Mesh` object that will be displayed. + +.. ocv:function:: WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray()) + + :param cloud: Points of the mesh object. + :param polygons: Points of the mesh object. + :param colors: Point colors. + :param normals: Point normals. diff --git a/modules/viz/include/opencv2/viz/types.hpp b/modules/viz/include/opencv2/viz/types.hpp new file mode 100644 index 0000000000..acbece2edf --- /dev/null +++ b/modules/viz/include/opencv2/viz/types.hpp @@ -0,0 +1,236 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_TYPES_HPP__ +#define __OPENCV_VIZ_TYPES_HPP__ + +#include +#include +#include + +namespace cv +{ + namespace viz + { + class Color : public Scalar + { + public: + Color(); + Color(double gray); + Color(double blue, double green, double red); + + Color(const Scalar& color); + + static Color black(); + static Color blue(); + static Color green(); + static Color cyan(); + + static Color red(); + static Color magenta(); + static Color yellow(); + static Color white(); + + static Color gray(); + + static Color mlab(); + + static Color navy(); + static Color olive(); + static Color maroon(); + static Color teal(); + static Color rose(); + static Color azure(); + static Color lime(); + static Color gold(); + static Color brown(); + static Color orange(); + static Color chartreuse(); + static Color orange_red(); + static Color purple(); + static Color indigo(); + + static Color pink(); + static Color cherry(); + static Color bluberry(); + static Color raspberry(); + static Color silver(); + static Color violet(); + static Color apricot(); + static Color turquoise(); + static Color celestial_blue(); + static Color amethyst(); + + static Color not_set(); + }; + + class CV_EXPORTS Mesh + { + public: + Mat cloud, colors, normals; + + //! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...) + //! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud. + Mat polygons; + + Mat texture, tcoords; + + //! Loads mesh from a given ply file (no texture load support for now) + static Mesh load(const String& file); + }; + + class CV_EXPORTS Camera + { + public: + Camera(double fx, double fy, double cx, double cy, const Size &window_size); + explicit Camera(const Vec2d &fov, const Size &window_size); + explicit Camera(const Matx33d &K, const Size &window_size); + explicit Camera(const Matx44d &proj, const Size &window_size); + + const Vec2d & getClip() const { return clip_; } + void setClip(const Vec2d &clip) { clip_ = clip; } + + const Size & getWindowSize() const { return window_size_; } + void setWindowSize(const Size &window_size); + + const Vec2d& getFov() const { return fov_; } + void setFov(const Vec2d& fov) { fov_ = fov; } + + const Vec2d& getPrincipalPoint() const { return principal_point_; } + const Vec2d& getFocalLength() const { return focal_; } + + void computeProjectionMatrix(Matx44d &proj) const; + + static Camera KinectCamera(const Size &window_size); + + private: + void init(double fx, double fy, double cx, double cy, const Size &window_size); + + Vec2d clip_; + Vec2d fov_; + Size window_size_; + Vec2d principal_point_; + Vec2d focal_; + }; + + class CV_EXPORTS KeyboardEvent + { + public: + enum { NONE = 0, ALT = 1, CTRL = 2, SHIFT = 4 }; + enum Action { KEY_UP = 0, KEY_DOWN = 1 }; + + KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers); + + Action action; + String symbol; + unsigned char code; + int modifiers; + }; + + class CV_EXPORTS MouseEvent + { + public: + enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ; + enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ; + + MouseEvent(const Type& type, const MouseButton& button, const Point& pointer, int modifiers); + + Type type; + MouseButton button; + Point pointer; + int modifiers; + }; + } /* namespace viz */ +} /* namespace cv */ + +////////////////////////////////////////////////////////////////////////////////////////////////////// +/// cv::viz::Color + +inline cv::viz::Color::Color() : Scalar(0, 0, 0) {} +inline cv::viz::Color::Color(double _gray) : Scalar(_gray, _gray, _gray) {} +inline cv::viz::Color::Color(double _blue, double _green, double _red) : Scalar(_blue, _green, _red) {} +inline cv::viz::Color::Color(const Scalar& color) : Scalar(color) {} + +inline cv::viz::Color cv::viz::Color::black() { return Color( 0, 0, 0); } +inline cv::viz::Color cv::viz::Color::green() { return Color( 0, 255, 0); } +inline cv::viz::Color cv::viz::Color::blue() { return Color(255, 0, 0); } +inline cv::viz::Color cv::viz::Color::cyan() { return Color(255, 255, 0); } +inline cv::viz::Color cv::viz::Color::red() { return Color( 0, 0, 255); } +inline cv::viz::Color cv::viz::Color::yellow() { return Color( 0, 255, 255); } +inline cv::viz::Color cv::viz::Color::magenta() { return Color(255, 0, 255); } +inline cv::viz::Color cv::viz::Color::white() { return Color(255, 255, 255); } +inline cv::viz::Color cv::viz::Color::gray() { return Color(128, 128, 128); } + +inline cv::viz::Color cv::viz::Color::mlab() { return Color(255, 128, 128); } + +inline cv::viz::Color cv::viz::Color::navy() { return Color(0, 0, 128); } +inline cv::viz::Color cv::viz::Color::olive() { return Color(0, 128, 128); } +inline cv::viz::Color cv::viz::Color::maroon() { return Color(0, 0, 128); } +inline cv::viz::Color cv::viz::Color::teal() { return Color(128, 128, 0); } +inline cv::viz::Color cv::viz::Color::rose() { return Color(128, 0, 255); } +inline cv::viz::Color cv::viz::Color::azure() { return Color(255, 128, 0); } +inline cv::viz::Color cv::viz::Color::lime() { return Color(0, 255, 191); } +inline cv::viz::Color cv::viz::Color::gold() { return Color(0, 215, 255); } +inline cv::viz::Color cv::viz::Color::brown() { return Color(0, 75, 150); } +inline cv::viz::Color cv::viz::Color::orange() { return Color(0, 165, 255); } +inline cv::viz::Color cv::viz::Color::chartreuse() { return Color(0, 255, 128); } +inline cv::viz::Color cv::viz::Color::orange_red() { return Color(0, 69, 255); } +inline cv::viz::Color cv::viz::Color::purple() { return Color(128, 0, 128); } +inline cv::viz::Color cv::viz::Color::indigo() { return Color(130, 0, 75); } + +inline cv::viz::Color cv::viz::Color::pink() { return Color(203, 192, 255); } +inline cv::viz::Color cv::viz::Color::cherry() { return Color( 99, 29, 222); } +inline cv::viz::Color cv::viz::Color::bluberry() { return Color(247, 134, 79); } +inline cv::viz::Color cv::viz::Color::raspberry() { return Color( 92, 11, 227); } +inline cv::viz::Color cv::viz::Color::silver() { return Color(192, 192, 192); } +inline cv::viz::Color cv::viz::Color::violet() { return Color(226, 43, 138); } +inline cv::viz::Color cv::viz::Color::apricot() { return Color(177, 206, 251); } +inline cv::viz::Color cv::viz::Color::turquoise() { return Color(208, 224, 64); } +inline cv::viz::Color cv::viz::Color::celestial_blue() { return Color(208, 151, 73); } +inline cv::viz::Color cv::viz::Color::amethyst() { return Color(204, 102, 153); } + +inline cv::viz::Color cv::viz::Color::not_set() { return Color(-1, -1, -1); } + +#endif diff --git a/modules/viz/include/opencv2/viz/viz3d.hpp b/modules/viz/include/opencv2/viz/viz3d.hpp new file mode 100644 index 0000000000..1a137bcfb3 --- /dev/null +++ b/modules/viz/include/opencv2/viz/viz3d.hpp @@ -0,0 +1,131 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_VIZ3D_HPP__ +#define __OPENCV_VIZ_VIZ3D_HPP__ + +#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED && !defined CVAPI_EXPORTS + //#error "Viz is in beta state now. Please define macro above to use it" +#endif + +#include +#include +#include + +namespace cv +{ + namespace viz + { + class CV_EXPORTS Viz3d + { + public: + typedef cv::viz::Color Color; + typedef void (*KeyboardCallback)(const KeyboardEvent&, void*); + typedef void (*MouseCallback)(const MouseEvent&, void*); + + Viz3d(const String& window_name = String()); + Viz3d(const Viz3d&); + Viz3d& operator=(const Viz3d&); + ~Viz3d(); + + void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity()); + void removeWidget(const String &id); + Widget getWidget(const String &id) const; + void removeAllWidgets(); + + void showImage(InputArray image, const Size& window_size = Size(-1, -1)); + + void setWidgetPose(const String &id, const Affine3d &pose); + void updateWidgetPose(const String &id, const Affine3d &pose); + Affine3d getWidgetPose(const String &id) const; + + void setCamera(const Camera &camera); + Camera getCamera() const; + Affine3d getViewerPose(); + void setViewerPose(const Affine3d &pose); + + void resetCameraViewpoint(const String &id); + void resetCamera(); + + void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord); + void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction); + + Size getWindowSize() const; + void setWindowSize(const Size &window_size); + String getWindowName() const; + void saveScreenshot(const String &file); + void setWindowPosition(const Point& window_position); + void setFullScreen(bool mode = true); + void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set()); + void setBackgroundTexture(InputArray image = noArray()); + void setBackgroundMeshLab(); + + void spin(); + void spinOnce(int time = 1, bool force_redraw = false); + bool wasStopped() const; + void close(); + + void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); + void registerMouseCallback(MouseCallback callback, void* cookie = 0); + + void setRenderingProperty(const String &id, int property, double value); + double getRenderingProperty(const String &id, int property); + + void setRepresentation(int representation); + private: + + struct VizImpl; + VizImpl* impl_; + + void create(const String &window_name); + void release(); + + friend class VizStorage; + }; + + } /* namespace viz */ +} /* namespace cv */ + +#endif diff --git a/modules/viz/include/opencv2/viz/vizcore.hpp b/modules/viz/include/opencv2/viz/vizcore.hpp new file mode 100644 index 0000000000..bf44a2c039 --- /dev/null +++ b/modules/viz/include/opencv2/viz/vizcore.hpp @@ -0,0 +1,127 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_HPP__ +#define __OPENCV_VIZ_HPP__ + +#include +#include +#include + +namespace cv +{ + namespace viz + { + //! takes coordiante frame data and builds transfrom to global coordinate frame + CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0)); + + //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation) + CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir); + + //! retrieves a window by its name. If no window with such name, then it creates new. + CV_EXPORTS Viz3d getWindowByName(const String &window_name); + + //! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database. + CV_EXPORTS void unregisterAllWindows(); + + //! Displays image in specified window + CV_EXPORTS Viz3d imshow(const String& window_name, InputArray image, const Size& window_size = Size(-1, -1)); + + //! checks float value for Nan + inline bool isNan(float x) + { + unsigned int *u = reinterpret_cast(&x); + return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff); + } + + //! checks double value for Nan + inline bool isNan(double x) + { + unsigned int *u = reinterpret_cast(&x); + return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0); + } + + //! checks vectors for Nans + template inline bool isNan(const Vec<_Tp, cn>& v) + { return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); } + + //! checks point for Nans + template inline bool isNan(const Point3_<_Tp>& p) + { return isNan(p.x) || isNan(p.y) || isNan(p.z); } + + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly) + + CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false); + CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray()); + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Reads mesh. Only ply format is supported now and no texture load support + + CV_EXPORTS Mesh readMesh(const String& file); + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Read/write poses and trajectories + + CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose"); + CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose"); + + //! takes vector> with T = float/dobule and writes to a sequence of files with given filename format + CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose"); + + //! takes vector> with T = float/dobule and loads poses from sequence of files + CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose"); + + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Computing normals for mesh + + CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals); + + } /* namespace viz */ +} /* namespace cv */ + +#endif /* __OPENCV_VIZ_HPP__ */ diff --git a/modules/viz/include/opencv2/viz/widget_accessor.hpp b/modules/viz/include/opencv2/viz/widget_accessor.hpp new file mode 100644 index 0000000000..734f6ce559 --- /dev/null +++ b/modules/viz/include/opencv2/viz/widget_accessor.hpp @@ -0,0 +1,69 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_WIDGET_ACCESSOR_HPP__ +#define __OPENCV_VIZ_WIDGET_ACCESSOR_HPP__ + +#include +#include +#include + +namespace cv +{ + namespace viz + { + class Widget; + + //The class is only that depends on VTK in its interface. + //It is indended for those users who want to develop own widgets system using VTK library API. + struct CV_EXPORTS WidgetAccessor + { + static vtkSmartPointer getProp(const Widget &widget); + static void setProp(Widget &widget, vtkSmartPointer prop); + }; + } +} + +#endif diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp new file mode 100644 index 0000000000..2c49b9d0e2 --- /dev/null +++ b/modules/viz/include/opencv2/viz/widgets.hpp @@ -0,0 +1,396 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_WIDGETS_HPP__ +#define __OPENCV_VIZ_WIDGETS_HPP__ + +#include + +namespace cv +{ + namespace viz + { + ///////////////////////////////////////////////////////////////////////////// + /// Widget rendering properties + enum RenderingProperties + { + POINT_SIZE, + OPACITY, + LINE_WIDTH, + FONT_SIZE, + REPRESENTATION, + IMMEDIATE_RENDERING, + SHADING + }; + + enum RepresentationValues + { + REPRESENTATION_POINTS, + REPRESENTATION_WIREFRAME, + REPRESENTATION_SURFACE + }; + + enum ShadingValues + { + SHADING_FLAT, + SHADING_GOURAUD, + SHADING_PHONG + }; + + ///////////////////////////////////////////////////////////////////////////// + /// The base class for all widgets + class CV_EXPORTS Widget + { + public: + Widget(); + Widget(const Widget& other); + Widget& operator=(const Widget& other); + ~Widget(); + + //! Create a widget directly from ply file + static Widget fromPlyFile(const String &file_name); + + //! Rendering properties of this particular widget + void setRenderingProperty(int property, double value); + double getRenderingProperty(int property) const; + + //! Casting between widgets + template _W cast(); + private: + class Impl; + Impl *impl_; + friend struct WidgetAccessor; + }; + + ///////////////////////////////////////////////////////////////////////////// + /// The base class for all 3D widgets + class CV_EXPORTS Widget3D : public Widget + { + public: + Widget3D() {} + + //! widget position manipulation, i.e. place where it is rendered + void setPose(const Affine3d &pose); + void updatePose(const Affine3d &pose); + Affine3d getPose() const; + + //! update internal widget data, i.e. points, normals, etc. + void applyTransform(const Affine3d &transform); + + void setColor(const Color &color); + + }; + + ///////////////////////////////////////////////////////////////////////////// + /// The base class for all 2D widgets + class CV_EXPORTS Widget2D : public Widget + { + public: + Widget2D() {} + + void setColor(const Color &color); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Simple widgets + + class CV_EXPORTS WLine : public Widget3D + { + public: + WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white()); + }; + + class CV_EXPORTS WPlane : public Widget3D + { + public: + //! created default plane with center point at origin and normal oriented along z-axis + WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); + + //! repositioned plane + WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, + const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); + }; + + class CV_EXPORTS WSphere : public Widget3D + { + public: + WSphere(const cv::Point3d ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white()); + }; + + class CV_EXPORTS WArrow : public Widget3D + { + public: + WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white()); + }; + + class CV_EXPORTS WCircle : public Widget3D + { + public: + //! creates default planar circle centred at origin with plane normal along z-axis + WCircle(double radius, double thickness = 0.01, const Color &color = Color::white()); + + //! creates repositioned circle + WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white()); + }; + + class CV_EXPORTS WCone : public Widget3D + { + public: + //! create default cone, oriented along x-axis with center of its base located at origin + WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white()); + + //! creates repositioned cone + WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white()); + }; + + class CV_EXPORTS WCylinder : public Widget3D + { + public: + WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white()); + }; + + class CV_EXPORTS WCube : public Widget3D + { + public: + WCube(const Point3d& min_point = Vec3d::all(-0.5), const Point3d& max_point = Vec3d::all(0.5), + bool wire_frame = true, const Color &color = Color::white()); + }; + + class CV_EXPORTS WPolyLine : public Widget3D + { + public: + WPolyLine(InputArray points, const Color &color = Color::white()); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Text and image widgets + + class CV_EXPORTS WText : public Widget2D + { + public: + WText(const String &text, const Point &pos, int font_size = 20, const Color &color = Color::white()); + + void setText(const String &text); + String getText() const; + }; + + class CV_EXPORTS WText3D : public Widget3D + { + public: + //! creates text label in 3D. If face_camera = false, text plane normal is oriented along z-axis. Use widget pose to orient it properly + WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white()); + + void setText(const String &text); + String getText() const; + }; + + class CV_EXPORTS WImageOverlay : public Widget2D + { + public: + WImageOverlay(InputArray image, const Rect &rect); + void setImage(InputArray image); + }; + + class CV_EXPORTS WImage3D : public Widget3D + { + public: + //! Creates 3D image in a plane centered at the origin with normal orientaion along z-axis, + //! image x- and y-axes are oriented along x- and y-axes of 3d world + WImage3D(InputArray image, const Size2d &size); + + //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation + WImage3D(InputArray image, const Size2d &size, const Vec3d ¢er, const Vec3d &normal, const Vec3d &up_vector); + + void setImage(InputArray image); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Compond widgets + + class CV_EXPORTS WCoordinateSystem : public Widget3D + { + public: + WCoordinateSystem(double scale = 1.0); + }; + + class CV_EXPORTS WGrid : public Widget3D + { + public: + //! Creates grid at the origin and normal oriented along z-axis + WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); + + //! Creates repositioned grid + WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, + const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); + }; + + class CV_EXPORTS WCameraPosition : public Widget3D + { + public: + //! Creates camera coordinate frame (axes) at the origin + WCameraPosition(double scale = 1.0); + //! Creates frustum based on the intrinsic marix K at the origin + WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white()); + //! Creates frustum based on the field of view at the origin + WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white()); + //! Creates frustum and display given image at the far plane + WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white()); + //! Creates frustum and display given image at the far plane + WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white()); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Trajectories + + class CV_EXPORTS WTrajectory : public Widget3D + { + public: + enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH }; + + //! Takes vector> and displays trajectory of the given path either by coordinate frames or polyline + WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white()); + }; + + class CV_EXPORTS WTrajectoryFrustums : public Widget3D + { + public: + //! Takes vector> and displays trajectory of the given path by frustums + WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white()); + + //! Takes vector> and displays trajectory of the given path by frustums + WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white()); + }; + + class CV_EXPORTS WTrajectorySpheres: public Widget3D + { + public: + //! Takes vector> and displays trajectory of the given path + WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007, + const Color &from = Color::red(), const Color &to = Color::white()); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Clouds + + class CV_EXPORTS WCloud: public Widget3D + { + public: + //! Each point in cloud is mapped to a color in colors + WCloud(InputArray cloud, InputArray colors); + //! All points in cloud have the same color + WCloud(InputArray cloud, const Color &color = Color::white()); + }; + + class CV_EXPORTS WPaintedCloud: public Widget3D + { + public: + //! Paint cloud with default gradient between cloud bounds points + WPaintedCloud(InputArray cloud); + + //! Paint cloud with default gradient between given points + WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2); + + //! Paint cloud with gradient specified by given colors between given points + WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2); + }; + + class CV_EXPORTS WCloudCollection : public Widget3D + { + public: + WCloudCollection(); + + //! Each point in cloud is mapped to a color in colors + void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity()); + //! All points in cloud have the same color + void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity()); + }; + + class CV_EXPORTS WCloudNormals : public Widget3D + { + public: + WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white()); + }; + + class CV_EXPORTS WMesh : public Widget3D + { + public: + WMesh(const Mesh &mesh); + WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray()); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Utility exports + + template<> CV_EXPORTS Widget2D Widget::cast(); + template<> CV_EXPORTS Widget3D Widget::cast(); + template<> CV_EXPORTS WLine Widget::cast(); + template<> CV_EXPORTS WPlane Widget::cast(); + template<> CV_EXPORTS WSphere Widget::cast(); + template<> CV_EXPORTS WCylinder Widget::cast(); + template<> CV_EXPORTS WArrow Widget::cast(); + template<> CV_EXPORTS WCircle Widget::cast(); + template<> CV_EXPORTS WCone Widget::cast(); + template<> CV_EXPORTS WCube Widget::cast(); + template<> CV_EXPORTS WCoordinateSystem Widget::cast(); + template<> CV_EXPORTS WPolyLine Widget::cast(); + template<> CV_EXPORTS WGrid Widget::cast(); + template<> CV_EXPORTS WText3D Widget::cast(); + template<> CV_EXPORTS WText Widget::cast(); + template<> CV_EXPORTS WImageOverlay Widget::cast(); + template<> CV_EXPORTS WImage3D Widget::cast(); + template<> CV_EXPORTS WCameraPosition Widget::cast(); + template<> CV_EXPORTS WTrajectory Widget::cast(); + template<> CV_EXPORTS WTrajectoryFrustums Widget::cast(); + template<> CV_EXPORTS WTrajectorySpheres Widget::cast(); + template<> CV_EXPORTS WCloud Widget::cast(); + template<> CV_EXPORTS WPaintedCloud Widget::cast(); + template<> CV_EXPORTS WCloudCollection Widget::cast(); + template<> CV_EXPORTS WCloudNormals Widget::cast(); + template<> CV_EXPORTS WMesh Widget::cast(); + + } /* namespace viz */ +} /* namespace cv */ + +#endif diff --git a/modules/viz/src/clouds.cpp b/modules/viz/src/clouds.cpp new file mode 100644 index 0000000000..4b84e8e9e1 --- /dev/null +++ b/modules/viz/src/clouds.cpp @@ -0,0 +1,441 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Point Cloud Widget implementation + +cv::viz::WCloud::WCloud(InputArray cloud, InputArray colors) +{ + CV_Assert(!cloud.empty() && !colors.empty()); + + vtkSmartPointer cloud_source = vtkSmartPointer::New(); + cloud_source->SetColorCloud(cloud, colors); + cloud_source->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, cloud_source->GetOutput()); + mapper->SetScalarModeToUsePointData(); + mapper->ImmediateModeRenderingOff(); + mapper->SetScalarRange(0, 255); + mapper->ScalarVisibilityOn(); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->GetProperty()->SetInterpolationToFlat(); + actor->GetProperty()->BackfaceCullingOn(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::WCloud::WCloud(InputArray cloud, const Color &color) +{ + WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color)); + *this = cloud_widget; +} + + +template<> cv::viz::WCloud cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Painted Cloud Widget implementation + +cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud) +{ + vtkSmartPointer cloud_source = vtkSmartPointer::New(); + cloud_source->SetCloud(cloud); + cloud_source->Update(); + + Vec6d bounds(cloud_source->GetOutput()->GetPoints()->GetBounds()); + + vtkSmartPointer elevation = vtkSmartPointer::New(); + elevation->SetInputConnection(cloud_source->GetOutputPort()); + elevation->SetLowPoint(bounds[0], bounds[2], bounds[4]); + elevation->SetHighPoint(bounds[1], bounds[3], bounds[5]); + elevation->SetScalarRange(0.0, 1.0); + elevation->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput())); + mapper->ImmediateModeRenderingOff(); + mapper->ScalarVisibilityOn(); + mapper->SetColorModeToMapScalars(); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->GetProperty()->SetInterpolationToFlat(); + actor->GetProperty()->BackfaceCullingOn(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2) +{ + vtkSmartPointer cloud_source = vtkSmartPointer::New(); + cloud_source->SetCloud(cloud); + + vtkSmartPointer elevation = vtkSmartPointer::New(); + elevation->SetInputConnection(cloud_source->GetOutputPort()); + elevation->SetLowPoint(p1.x, p1.y, p1.z); + elevation->SetHighPoint(p2.x, p2.y, p2.z); + elevation->SetScalarRange(0.0, 1.0); + elevation->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput())); + mapper->ImmediateModeRenderingOff(); + mapper->ScalarVisibilityOn(); + mapper->SetColorModeToMapScalars(); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->GetProperty()->SetInterpolationToFlat(); + actor->GetProperty()->BackfaceCullingOn(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2) +{ + vtkSmartPointer cloud_source = vtkSmartPointer::New(); + cloud_source->SetCloud(cloud); + + vtkSmartPointer elevation = vtkSmartPointer::New(); + elevation->SetInputConnection(cloud_source->GetOutputPort()); + elevation->SetLowPoint(p1.x, p1.y, p1.z); + elevation->SetHighPoint(p2.x, p2.y, p2.z); + elevation->SetScalarRange(0.0, 1.0); + elevation->Update(); + + Color vc1 = vtkcolor(c1), vc2 = vtkcolor(c2); + vtkSmartPointer color_transfer = vtkSmartPointer::New(); + color_transfer->SetColorSpaceToRGB(); + color_transfer->AddRGBPoint(0.0, vc1[0], vc1[1], vc1[2]); + color_transfer->AddRGBPoint(1.0, vc2[0], vc2[1], vc2[2]); + color_transfer->SetScaleToLinear(); + color_transfer->Build(); + + //if in future some need to replace color table with real scalars, then this can be done usine next calls: + //vtkDataArray *float_scalars = vtkPolyData::SafeDownCast(elevation->GetOutput())->GetPointData()->GetArray("Elevation"); + //vtkSmartPointer polydata = cloud_source->GetOutput(); + //polydata->GetPointData()->SetScalars(color_transfer->MapScalars(float_scalars, VTK_COLOR_MODE_DEFAULT, 0)); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput())); + mapper->ImmediateModeRenderingOff(); + mapper->ScalarVisibilityOn(); + mapper->SetColorModeToMapScalars(); + mapper->SetLookupTable(color_transfer); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->GetProperty()->SetInterpolationToFlat(); + actor->GetProperty()->BackfaceCullingOn(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +template<> cv::viz::WPaintedCloud cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Cloud Collection Widget implementation + +cv::viz::WCloudCollection::WCloudCollection() +{ + // Just create the actor + vtkSmartPointer actor = vtkSmartPointer::New(); + WidgetAccessor::setProp(*this, actor); +} + +void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, const Affine3d &pose) +{ + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetColorCloud(cloud, colors); + + vtkSmartPointer polydata = VtkUtils::TransformPolydata(source->GetOutputPort(), pose); + + vtkSmartPointer actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Incompatible widget type." && actor); + + vtkSmartPointer mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper()); + if (!mapper) + { + // This is the first cloud + mapper = vtkSmartPointer::New(); + mapper->SetScalarRange(0, 255); + mapper->SetScalarModeToUsePointData(); + mapper->ScalarVisibilityOn(); + mapper->ImmediateModeRenderingOff(); + VtkUtils::SetInputData(mapper, polydata); + + actor->SetNumberOfCloudPoints(std::max(1, polydata->GetNumberOfPoints()/10)); + actor->GetProperty()->SetInterpolationToFlat(); + actor->GetProperty()->BackfaceCullingOn(); + actor->SetMapper(mapper); + return; + } + + vtkPolyData *currdata = vtkPolyData::SafeDownCast(mapper->GetInput()); + CV_Assert("Cloud Widget without data" && currdata); + + vtkSmartPointer append_filter = vtkSmartPointer::New(); + VtkUtils::AddInputData(append_filter, currdata); + VtkUtils::AddInputData(append_filter, polydata); + append_filter->Update(); + + VtkUtils::SetInputData(mapper, append_filter->GetOutput()); + + actor->SetNumberOfCloudPoints(std::max(1, actor->GetNumberOfCloudPoints() + polydata->GetNumberOfPoints()/10)); +} + +void cv::viz::WCloudCollection::addCloud(InputArray cloud, const Color &color, const Affine3d &pose) +{ + addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose); +} + +template<> cv::viz::WCloudCollection cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Cloud Normals Widget implementation + +cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, double scale, const Color &color) +{ + Mat cloud = _cloud.getMat(); + Mat normals = _normals.getMat(); + + CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); + CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type()); + + int sqlevel = (int)std::sqrt((double)level); + int ystep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : 1; + int xstep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : level; + + vtkSmartPointer points = vtkSmartPointer::New(); + points->SetDataType(cloud.depth() == CV_32F ? VTK_FLOAT : VTK_DOUBLE); + + vtkSmartPointer lines = vtkSmartPointer::New(); + + int s_chs = cloud.channels(); + int n_chs = normals.channels(); + int total = 0; + + for(int y = 0; y < cloud.rows; y += ystep) + { + if (cloud.depth() == CV_32F) + { + const float *srow = cloud.ptr(y); + const float *send = srow + cloud.cols * s_chs; + const float *nrow = normals.ptr(y); + + for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs) + if (!isNan(srow) && !isNan(nrow)) + { + Vec3f endp = Vec3f(srow) + Vec3f(nrow) * (float)scale; + + points->InsertNextPoint(srow); + points->InsertNextPoint(endp.val); + + lines->InsertNextCell(2); + lines->InsertCellPoint(total++); + lines->InsertCellPoint(total++); + } + } + else + { + const double *srow = cloud.ptr(y); + const double *send = srow + cloud.cols * s_chs; + const double *nrow = normals.ptr(y); + + for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs) + if (!isNan(srow) && !isNan(nrow)) + { + Vec3d endp = Vec3d(srow) + Vec3d(nrow) * (double)scale; + + points->InsertNextPoint(srow); + points->InsertNextPoint(endp.val); + + lines->InsertNextCell(2); + lines->InsertCellPoint(total++); + lines->InsertCellPoint(total++); + } + } + } + + vtkSmartPointer polyData = vtkSmartPointer::New(); + polyData->SetPoints(points); + polyData->SetLines(lines); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + mapper->SetColorModeToMapScalars(); + mapper->SetScalarModeToUsePointData(); + VtkUtils::SetInputData(mapper, polyData); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::WCloudNormals cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Mesh Widget implementation + +cv::viz::WMesh::WMesh(const Mesh &mesh) +{ + CV_Assert(mesh.cloud.rows == 1 && mesh.polygons.type() == CV_32SC1); + + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetColorCloudNormalsTCoords(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords); + source->Update(); + + Mat lookup_buffer(1, mesh.cloud.total(), CV_32SC1); + int *lookup = lookup_buffer.ptr(); + for(int y = 0, index = 0; y < mesh.cloud.rows; ++y) + { + int s_chs = mesh.cloud.channels(); + + if (mesh.cloud.depth() == CV_32F) + { + const float* srow = mesh.cloud.ptr(y); + const float* send = srow + mesh.cloud.cols * s_chs; + + for (; srow != send; srow += s_chs, ++lookup) + if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2])) + *lookup = index++; + } + + if (mesh.cloud.depth() == CV_64F) + { + const double* srow = mesh.cloud.ptr(y); + const double* send = srow + mesh.cloud.cols * s_chs; + + for (; srow != send; srow += s_chs, ++lookup) + if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2])) + *lookup = index++; + } + } + lookup = lookup_buffer.ptr(); + + vtkSmartPointer polydata = source->GetOutput(); + polydata->SetVerts(0); + + const int * polygons = mesh.polygons.ptr(); + vtkSmartPointer cell_array = vtkSmartPointer::New(); + + int idx = 0; + size_t polygons_size = mesh.polygons.total(); + for (size_t i = 0; i < polygons_size; ++idx) + { + int n_points = polygons[i++]; + + cell_array->InsertNextCell(n_points); + for (int j = 0; j < n_points; ++j, ++idx) + cell_array->InsertCellPoint(lookup[polygons[i++]]); + } + cell_array->GetData()->SetNumberOfValues(idx); + cell_array->Squeeze(); + polydata->SetStrips(cell_array); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + mapper->SetScalarModeToUsePointData(); + mapper->ImmediateModeRenderingOff(); + VtkUtils::SetInputData(mapper, polydata); + + vtkSmartPointer actor = vtkSmartPointer::New(); + //actor->SetNumberOfCloudPoints(std::max(1, polydata->GetNumberOfPoints() / 10)); + actor->GetProperty()->SetRepresentationToSurface(); + actor->GetProperty()->BackfaceCullingOff(); // Backface culling is off for higher efficiency + actor->GetProperty()->SetInterpolationToFlat(); + actor->GetProperty()->EdgeVisibilityOff(); + actor->GetProperty()->ShadingOff(); + actor->SetMapper(mapper); + + if (!mesh.texture.empty()) + { + vtkSmartPointer image_source = vtkSmartPointer::New(); + image_source->SetImage(mesh.texture); + + vtkSmartPointer texture = vtkSmartPointer::New(); + texture->SetInputConnection(image_source->GetOutputPort()); + actor->SetTexture(texture); + } + + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::WMesh::WMesh(InputArray cloud, InputArray polygons, InputArray colors, InputArray normals) +{ + Mesh mesh; + mesh.cloud = cloud.getMat(); + mesh.colors = colors.getMat(); + mesh.normals = normals.getMat(); + mesh.polygons = polygons.getMat(); + *this = WMesh(mesh); +} + +template<> CV_EXPORTS cv::viz::WMesh cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} diff --git a/modules/viz/src/interactor_style.cpp b/modules/viz/src/interactor_style.cpp new file mode 100644 index 0000000000..75003a2b66 --- /dev/null +++ b/modules/viz/src/interactor_style.cpp @@ -0,0 +1,639 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +// OpenCV Viz module is complete rewrite of +// PCL visualization module (www.pointclouds.org) +// +//M*/ + +#include "precomp.hpp" + + +namespace cv { namespace viz +{ + vtkStandardNewMacro(InteractorStyle) +}} + + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::Initialize() +{ + // Set windows size (width, height) to unknown (-1) + win_size_ = Vec2i(-1, -1); + win_pos_ = Vec2i(0, 0); + max_win_size_ = Vec2i(-1, -1); + + init_ = true; + stereo_anaglyph_mask_default_ = true; + + // Initialize the keyboard event callback as none + keyboardCallback_ = 0; + keyboard_callback_cookie_ = 0; + + // Initialize the mouse event callback as none + mouseCallback_ = 0; + mouse_callback_cookie_ = 0; +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::saveScreenshot(const String &file) +{ + FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]); + + vtkSmartPointer wif = vtkSmartPointer::New(); + wif->SetInput(Interactor->GetRenderWindow()); + + vtkSmartPointer snapshot_writer = vtkSmartPointer::New(); + snapshot_writer->SetInputConnection(wif->GetOutputPort()); + snapshot_writer->SetFileName(file.c_str()); + snapshot_writer->Write(); + + cout << "Screenshot successfully captured (" << file.c_str() << ")" << endl; +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::exportScene(const String &file) +{ + vtkSmartPointer exporter; + if (file.size() > 5 && file.substr(file.size() - 5) == ".vrml") + { + exporter = vtkSmartPointer::New(); + vtkVRMLExporter::SafeDownCast(exporter)->SetFileName(file.c_str()); + } + else + { + exporter = vtkSmartPointer::New(); + vtkOBJExporter::SafeDownCast(exporter)->SetFilePrefix(file.c_str()); + } + + exporter->SetInput(Interactor->GetRenderWindow()); + exporter->Write(); + + cout << "Scene successfully exported (" << file.c_str() << ")" << endl; +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::zoomIn() +{ + FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]); + // Zoom in + StartDolly(); + double factor = 10.0 * 0.2 * .5; + Dolly(std::pow(1.1, factor)); + EndDolly(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::zoomOut() +{ + FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]); + // Zoom out + StartDolly(); + double factor = 10.0 * -0.2 * .5; + Dolly(std::pow(1.1, factor)); + EndDolly(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnChar() +{ + // Make sure we ignore the same events we handle in OnKeyDown to avoid calling things twice + FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]); + if (Interactor->GetKeyCode() >= '0' && Interactor->GetKeyCode() <= '9') + return; + + String key(Interactor->GetKeySym()); + if (key.find("XF86ZoomIn") != String::npos) + zoomIn(); + else if (key.find("XF86ZoomOut") != String::npos) + zoomOut(); + + int keymod = Interactor->GetAltKey(); + + switch (Interactor->GetKeyCode()) + { + // All of the options below simply exit + case 'h': case 'H': + case 'l': case 'L': + case 'p': case 'P': + case 'j': case 'J': + case 'c': case 'C': + case 43: // KEY_PLUS + case 45: // KEY_MINUS + case 'f': case 'F': + case 'g': case 'G': + case 'o': case 'O': + case 'u': case 'U': + case 'q': case 'Q': + { + break; + } + // S and R have a special !ALT case + case 'r': case 'R': + case 's': case 'S': + { + if (!keymod) + Superclass::OnChar(); + break; + } + default: + { + Superclass::OnChar(); + break; + } + } +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie) +{ + // Register the callback function and store the user data + mouseCallback_ = callback; + mouse_callback_cookie_ = cookie; +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void *cookie) +{ + // Register the callback function and store the user data + keyboardCallback_ = callback; + keyboard_callback_cookie_ = cookie; +} + +////////////////////////////////////////////////////////////////////////////////////////////// +int cv::viz::InteractorStyle::getModifiers() +{ + int modifiers = KeyboardEvent::NONE; + + if (Interactor->GetAltKey()) + modifiers |= KeyboardEvent::ALT; + + if (Interactor->GetControlKey()) + modifiers |= KeyboardEvent::CTRL; + + if (Interactor->GetShiftKey()) + modifiers |= KeyboardEvent::SHIFT; + return modifiers; +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnKeyDown() +{ + CV_Assert("Interactor style not initialized. Please call Initialize() before continuing" && init_); + FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]); + + // Save the initial windows width/height + if (win_size_[0] == -1 || win_size_[1] == -1) + win_size_ = Vec2i(Interactor->GetRenderWindow()->GetSize()); + + bool alt = Interactor->GetAltKey() != 0; + + std::string key(Interactor->GetKeySym()); + if (key.find("XF86ZoomIn") != std::string::npos) + zoomIn(); + else if (key.find("XF86ZoomOut") != std::string::npos) + zoomOut(); + + switch (Interactor->GetKeyCode()) + { + case 'h': case 'H': + { + std::cout << "| Help:\n" + "-------\n" + " p, P : switch to a point-based representation\n" + " w, W : switch to a wireframe-based representation (where available)\n" + " s, S : switch to a surface-based representation (where available)\n" + "\n" + " j, J : take a .PNG snapshot of the current window view\n" + " k, K : export scene to Wavefront .obj format\n" + " ALT + k, K : export scene to VRML format\n" + " c, C : display current camera/window parameters\n" + " f, F : fly to point mode, hold the key and move mouse where to fly\n" + "\n" + " e, E : exit the interactor\n" + " q, Q : stop and call VTK's TerminateApp\n" + "\n" + " +/- : increment/decrement overall point size\n" + " +/- [+ ALT] : zoom in/out \n" + "\n" + " r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]\n" + "\n" + " ALT + s, S : turn stereo mode on/off\n" + " ALT + f, F : switch between maximized window mode and original size\n" + "\n" + << std::endl; + break; + } + + // Switch representation to points + case 'p': case 'P': + { + vtkSmartPointer ac = CurrentRenderer->GetActors(); + vtkCollectionSimpleIterator ait; + for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); ) + for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); ) + { + vtkActor* apart = vtkActor::SafeDownCast(path->GetLastNode()->GetViewProp()); + apart->GetProperty()->SetRepresentationToPoints(); + } + break; + } + + // Save a PNG snapshot + case 'j': case 'J': + saveScreenshot(cv::format("screenshot-%d.png", (unsigned int)time(0))); break; + + // Export scene as in obj or vrml format + case 'k': case 'K': + { + String format = alt ? "scene-%d.vrml" : "scene-%d"; + exportScene(cv::format(format.c_str(), (unsigned int)time(0))); + break; + } + + // display current camera settings/parameters + case 'c': case 'C': + { + vtkSmartPointer cam = Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer()->GetActiveCamera(); + + Vec2d clip(cam->GetClippingRange()); + Vec3d focal(cam->GetFocalPoint()), pos(cam->GetPosition()), view(cam->GetViewUp()); + Vec2i win_pos(Interactor->GetRenderWindow()->GetPosition()); + Vec2i win_size(Interactor->GetRenderWindow()->GetSize()); + double angle = cam->GetViewAngle () / 180.0 * CV_PI; + + String data = cv::format("clip(%f,%f) focal(%f,%f,%f) pos(%f,%f,%f) view(%f,%f,%f) angle(%f) winsz(%d,%d) winpos(%d,%d)", + clip[0], clip[1], focal[0], focal[1], focal[2], pos[0], pos[1], pos[2], view[0], view[1], view[2], + angle, win_size[0], win_size[1], win_pos[0], win_pos[1]); + + std::cout << data.c_str() << std::endl; + + break; + } + case '=': + { + zoomIn(); + break; + } + case 43: // KEY_PLUS + { + if (alt) + zoomIn(); + else + { + vtkSmartPointer ac = CurrentRenderer->GetActors(); + vtkCollectionSimpleIterator ait; + for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); ) + for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); ) + { + vtkActor* apart = vtkActor::SafeDownCast(path->GetLastNode()->GetViewProp()); + float psize = apart->GetProperty()->GetPointSize(); + if (psize < 63.0f) + apart->GetProperty()->SetPointSize(psize + 1.0f); + } + } + break; + } + case 45: // KEY_MINUS + { + if (alt) + zoomOut(); + else + { + vtkSmartPointer ac = CurrentRenderer->GetActors(); + vtkCollectionSimpleIterator ait; + for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); ) + for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); ) + { + vtkActor* apart = vtkActor::SafeDownCast(path->GetLastNode()->GetViewProp()); + float psize = apart->GetProperty()->GetPointSize(); + if (psize > 1.0f) + apart->GetProperty()->SetPointSize(psize - 1.0f); + } + } + break; + } + // Switch between maximize and original window size + case 'f': case 'F': + { + if (alt) + { + Vec2i screen_size(Interactor->GetRenderWindow()->GetScreenSize()); + Vec2i win_size(Interactor->GetRenderWindow()->GetSize()); + + // Is window size = max? + if (win_size == max_win_size_) + { + Interactor->GetRenderWindow()->SetSize(win_size_.val); + Interactor->GetRenderWindow()->SetPosition(win_pos_.val); + Interactor->GetRenderWindow()->Render(); + Interactor->Render(); + } + // Set to max + else + { + win_pos_ = Vec2i(Interactor->GetRenderWindow()->GetPosition()); + win_size_ = win_size; + + Interactor->GetRenderWindow()->SetSize(screen_size.val); + Interactor->GetRenderWindow()->Render(); + Interactor->Render(); + max_win_size_ = Vec2i(Interactor->GetRenderWindow()->GetSize()); + } + } + else + { + AnimState = VTKIS_ANIM_ON; + Interactor->GetPicker()->Pick(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1], 0.0, CurrentRenderer); + vtkSmartPointer picker = vtkAbstractPropPicker::SafeDownCast(Interactor->GetPicker()); + if (picker) + if (picker->GetPath()) + Interactor->FlyTo(CurrentRenderer, picker->GetPickPosition()); + AnimState = VTKIS_ANIM_OFF; + } + break; + } + // 's'/'S' w/out ALT + case 's': case 'S': + { + if (alt) + { + vtkSmartPointer window = Interactor->GetRenderWindow(); + if (!window->GetStereoRender()) + { + static Vec2i red_blue(4, 3), magenta_green(2, 5); + window->SetAnaglyphColorMask (stereo_anaglyph_mask_default_ ? red_blue.val : magenta_green.val); + stereo_anaglyph_mask_default_ = !stereo_anaglyph_mask_default_; + } + window->SetStereoRender(!window->GetStereoRender()); + Interactor->Render(); + } + else + Superclass::OnKeyDown(); + break; + } + + case 'o': case 'O': + { + vtkSmartPointer cam = CurrentRenderer->GetActiveCamera(); + cam->SetParallelProjection(!cam->GetParallelProjection()); + CurrentRenderer->Render(); + break; + } + + // Overwrite the camera reset + case 'r': case 'R': + { + if (!alt) + { + Superclass::OnKeyDown(); + break; + } + + WidgetActorMap::iterator it = widget_actor_map_->begin(); + // it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault. + for (; it != widget_actor_map_->end(); ++it) + { + vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second); + if (actor && actor->GetUserMatrix()) + break; + } + + vtkSmartPointer cam = CurrentRenderer->GetActiveCamera(); + + // if a valid transformation was found, use it otherwise fall back to default view point. + if (it != widget_actor_map_->end()) + { + vtkMatrix4x4* m = vtkProp3D::SafeDownCast(it->second)->GetUserMatrix(); + + cam->SetFocalPoint(m->GetElement(0, 3) - m->GetElement(0, 2), + m->GetElement(1, 3) - m->GetElement(1, 2), + m->GetElement(2, 3) - m->GetElement(2, 2)); + + cam->SetViewUp (m->GetElement(0, 1), m->GetElement(1, 1), m->GetElement(2, 1)); + cam->SetPosition(m->GetElement(0, 3), m->GetElement(1, 3), m->GetElement(2, 3)); + } + else + { + cam->SetPosition(0, 0, 0); + cam->SetFocalPoint(0, 0, 1); + cam->SetViewUp(0, -1, 0); + } + + // go to the next actor for the next key-press event. + if (it != widget_actor_map_->end()) + ++it; + else + it = widget_actor_map_->begin(); + + CurrentRenderer->SetActiveCamera(cam); + CurrentRenderer->ResetCameraClippingRange(); + CurrentRenderer->Render(); + break; + } + + case 'q': case 'Q': + { + Interactor->ExitCallback(); + return; + } + default: + { + Superclass::OnKeyDown(); + break; + } + } + + KeyboardEvent event(KeyboardEvent::KEY_DOWN, Interactor->GetKeySym(), Interactor->GetKeyCode(), getModifiers()); + if (keyboardCallback_) + keyboardCallback_(event, keyboard_callback_cookie_); + Interactor->Render(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnKeyUp() +{ + KeyboardEvent event(KeyboardEvent::KEY_UP, Interactor->GetKeySym(), Interactor->GetKeyCode(), getModifiers()); + if (keyboardCallback_) + keyboardCallback_(event, keyboard_callback_cookie_); + Superclass::OnKeyUp(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnMouseMove() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent event(MouseEvent::MouseMove, MouseEvent::NoButton, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + Superclass::OnMouseMove(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnLeftButtonDown() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick; + MouseEvent event(type, MouseEvent::LeftButton, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + Superclass::OnLeftButtonDown(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnLeftButtonUp() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::LeftButton, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + Superclass::OnLeftButtonUp(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnMiddleButtonDown() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick; + MouseEvent event(type, MouseEvent::MiddleButton, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + Superclass::OnMiddleButtonDown(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnMiddleButtonUp() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::MiddleButton, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + Superclass::OnMiddleButtonUp(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnRightButtonDown() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick; + MouseEvent event(type, MouseEvent::RightButton, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + Superclass::OnRightButtonDown(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnRightButtonUp() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::RightButton, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + Superclass::OnRightButtonUp(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnMouseWheelForward() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent event(MouseEvent::MouseScrollUp, MouseEvent::VScroll, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + if (Interactor->GetRepeatCount() && mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + + if (Interactor->GetAltKey()) + { + // zoom + vtkSmartPointer cam = CurrentRenderer->GetActiveCamera(); + double opening_angle = cam->GetViewAngle(); + if (opening_angle > 15.0) + opening_angle -= 1.0; + + cam->SetViewAngle(opening_angle); + cam->Modified(); + CurrentRenderer->ResetCameraClippingRange(); + CurrentRenderer->Modified(); + CurrentRenderer->Render(); + Interactor->Render(); + } + else + Superclass::OnMouseWheelForward(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnMouseWheelBackward() +{ + Vec2i p(Interactor->GetEventPosition()); + MouseEvent event(MouseEvent::MouseScrollDown, MouseEvent::VScroll, p, getModifiers()); + if (mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + + if (Interactor->GetRepeatCount() && mouseCallback_) + mouseCallback_(event, mouse_callback_cookie_); + + if (Interactor->GetAltKey()) + { + // zoom + vtkSmartPointer cam = CurrentRenderer->GetActiveCamera(); + double opening_angle = cam->GetViewAngle(); + if (opening_angle < 170.0) + opening_angle += 1.0; + + cam->SetViewAngle(opening_angle); + cam->Modified(); + CurrentRenderer->ResetCameraClippingRange(); + CurrentRenderer->Modified(); + CurrentRenderer->Render(); + Interactor->Render(); + } + else + Superclass::OnMouseWheelBackward(); +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::InteractorStyle::OnTimer() +{ + CV_Assert("Interactor style not initialized." && init_); + Interactor->Render(); +} diff --git a/modules/viz/src/interactor_style.hpp b/modules/viz/src/interactor_style.hpp new file mode 100644 index 0000000000..8d01697a87 --- /dev/null +++ b/modules/viz/src/interactor_style.hpp @@ -0,0 +1,119 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_INTERACTOR_STYLE_H__ +#define __OPENCV_VIZ_INTERACTOR_STYLE_H__ + +namespace cv +{ + namespace viz + { + class InteractorStyle : public vtkInteractorStyleTrackballCamera + { + public: + static InteractorStyle *New(); + virtual ~InteractorStyle() {} + + // this macro defines Superclass, the isA functionality and the safe downcast method + vtkTypeMacro(InteractorStyle, vtkInteractorStyleTrackballCamera) + + /** \brief Initialization routine. Must be called before anything else. */ + virtual void Initialize(); + + void setWidgetActorMap(const Ptr& actors) { widget_actor_map_ = actors; } + void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0); + void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0); + void saveScreenshot(const String &file); + void exportScene(const String &file); + + private: + /** \brief Set to true after initialization is complete. */ + bool init_; + + Ptr widget_actor_map_; + + Vec2i win_size_; + Vec2i win_pos_; + Vec2i max_win_size_; + + /** \brief Interactor style internal method. Gets called whenever a key is pressed. */ + virtual void OnChar(); + + // Keyboard events + virtual void OnKeyDown(); + virtual void OnKeyUp(); + + // mouse button events + virtual void OnMouseMove(); + virtual void OnLeftButtonDown(); + virtual void OnLeftButtonUp(); + virtual void OnMiddleButtonDown(); + virtual void OnMiddleButtonUp(); + virtual void OnRightButtonDown(); + virtual void OnRightButtonUp(); + virtual void OnMouseWheelForward(); + virtual void OnMouseWheelBackward(); + + /** \brief Interactor style internal method. Gets called periodically if a timer is set. */ + virtual void OnTimer(); + + void zoomIn(); + void zoomOut(); + + /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */ + bool stereo_anaglyph_mask_default_; + + void (*keyboardCallback_)(const KeyboardEvent&, void*); + void *keyboard_callback_cookie_; + + void (*mouseCallback_)(const MouseEvent&, void*); + void *mouse_callback_cookie_; + + int getModifiers(); + }; + } +} + +#endif diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp new file mode 100644 index 0000000000..d9681ce83b --- /dev/null +++ b/modules/viz/src/precomp.hpp @@ -0,0 +1,324 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_PRECOMP_HPP__ +#define __OPENCV_VIZ_PRECOMP_HPP__ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#if !defined(_WIN32) || defined(__CYGWIN__) +# include /* unlink */ +#else +# include /* unlink */ +#endif + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + + +namespace cv +{ + namespace viz + { + typedef std::map > WidgetActorMap; + typedef std::map VizMap; + + class VizStorage + { + public: + static void unregisterAll(); + + //! window names automatically have Viz - prefix even though not provided by the users + static String generateWindowName(const String &window_name); + + private: + VizStorage(); // Static + ~VizStorage(); + + static void add(const Viz3d& window); + static Viz3d& get(const String &window_name); + static void remove(const String &window_name); + static bool windowExists(const String &window_name); + static void removeUnreferenced(); + + static VizMap storage; + friend class Viz3d; + }; + + template inline _Tp normalized(const _Tp& v) { return v * 1/norm(v); } + + template inline bool isNan(const _Tp* data) + { + return isNan(data[0]) || isNan(data[1]) || isNan(data[2]); + } + + inline vtkSmartPointer getActor(const Widget3D& widget) + { + return vtkActor::SafeDownCast(WidgetAccessor::getProp(widget)); + } + + inline vtkSmartPointer getPolyData(const Widget3D& widget) + { + vtkSmartPointer mapper = getActor(widget)->GetMapper(); + return vtkPolyData::SafeDownCast(mapper->GetInput()); + } + + inline vtkSmartPointer vtkmatrix(const cv::Matx44d &matrix) + { + vtkSmartPointer vtk_matrix = vtkSmartPointer::New(); + vtk_matrix->DeepCopy(matrix.val); + return vtk_matrix; + } + + inline Color vtkcolor(const Color& color) + { + Color scaled_color = color * (1.0/255.0); + std::swap(scaled_color[0], scaled_color[2]); + return scaled_color; + } + + inline Vec3d get_random_vec(double from = -10.0, double to = 10.0) + { + RNG& rng = theRNG(); + return Vec3d(rng.uniform(from, to), rng.uniform(from, to), rng.uniform(from, to)); + } + + struct VtkUtils + { + template + static void SetInputData(vtkSmartPointer filter, vtkPolyData* polydata) + { + #if VTK_MAJOR_VERSION <= 5 + filter->SetInput(polydata); + #else + filter->SetInputData(polydata); + #endif + } + template + static void SetSourceData(vtkSmartPointer filter, vtkPolyData* polydata) + { + #if VTK_MAJOR_VERSION <= 5 + filter->SetSource(polydata); + #else + filter->SetSourceData(polydata); + #endif + } + + template + static void SetInputData(vtkSmartPointer filter, vtkImageData* polydata) + { + #if VTK_MAJOR_VERSION <= 5 + filter->SetInput(polydata); + #else + filter->SetInputData(polydata); + #endif + } + + template + static void AddInputData(vtkSmartPointer filter, vtkPolyData *polydata) + { + #if VTK_MAJOR_VERSION <= 5 + filter->AddInput(polydata); + #else + filter->AddInputData(polydata); + #endif + } + + static vtkSmartPointer FillScalars(size_t size, const Color& color) + { + Vec3b rgb = Vec3d(color[2], color[1], color[0]); + Vec3b* color_data = new Vec3b[size]; + std::fill(color_data, color_data + size, rgb); + + vtkSmartPointer scalars = vtkSmartPointer::New(); + scalars->SetName("Colors"); + scalars->SetNumberOfComponents(3); + scalars->SetNumberOfTuples(size); + scalars->SetArray(color_data->val, size * 3, 0); + return scalars; + } + + static vtkSmartPointer ComputeNormals(vtkSmartPointer polydata) + { + vtkSmartPointer normals_generator = vtkSmartPointer::New(); + normals_generator->ComputePointNormalsOn(); + normals_generator->ComputeCellNormalsOff(); + normals_generator->SetFeatureAngle(0.1); + normals_generator->SetSplitting(0); + normals_generator->SetConsistency(1); + normals_generator->SetAutoOrientNormals(0); + normals_generator->SetFlipNormals(0); + normals_generator->SetNonManifoldTraversal(1); + VtkUtils::SetInputData(normals_generator, polydata); + normals_generator->Update(); + return normals_generator->GetOutput(); + } + + static vtkSmartPointer TransformPolydata(vtkSmartPointer algorithm_output_port, const Affine3d& pose) + { + vtkSmartPointer transform = vtkSmartPointer::New(); + transform->SetMatrix(vtkmatrix(pose.matrix)); + + vtkSmartPointer transform_filter = vtkSmartPointer::New(); + transform_filter->SetTransform(transform); + transform_filter->SetInputConnection(algorithm_output_port); + transform_filter->Update(); + return transform_filter->GetOutput(); + } + + static vtkSmartPointer TransformPolydata(vtkSmartPointer polydata, const Affine3d& pose) + { + vtkSmartPointer transform = vtkSmartPointer::New(); + transform->SetMatrix(vtkmatrix(pose.matrix)); + + vtkSmartPointer transform_filter = vtkSmartPointer::New(); + VtkUtils::SetInputData(transform_filter, polydata); + transform_filter->SetTransform(transform); + transform_filter->Update(); + return transform_filter->GetOutput(); + } + }; + } +} + +#include "interactor_style.hpp" +#include "vizimpl.hpp" + + +#endif diff --git a/modules/viz/src/shapes.cpp b/modules/viz/src/shapes.cpp new file mode 100644 index 0000000000..f3d24f757c --- /dev/null +++ b/modules/viz/src/shapes.cpp @@ -0,0 +1,1088 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// line widget implementation +cv::viz::WLine::WLine(const Point3d &pt1, const Point3d &pt2, const Color &color) +{ + vtkSmartPointer line = vtkSmartPointer::New(); + line->SetPoint1(pt1.x, pt1.y, pt1.z); + line->SetPoint2(pt2.x, pt2.y, pt2.z); + line->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, line->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::WLine cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// sphere widget implementation + +cv::viz::WSphere::WSphere(const Point3d ¢er, double radius, int sphere_resolution, const Color &color) +{ + vtkSmartPointer sphere = vtkSmartPointer::New(); + sphere->SetRadius(radius); + sphere->SetCenter(center.x, center.y, center.z); + sphere->SetPhiResolution(sphere_resolution); + sphere->SetThetaResolution(sphere_resolution); + sphere->LatLongTessellationOff(); + sphere->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, sphere->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::WSphere cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// plane widget implementation + +cv::viz::WPlane::WPlane(const Size2d& size, const Color &color) +{ + vtkSmartPointer plane = vtkSmartPointer::New(); + plane->SetOrigin(-0.5 * size.width, -0.5 * size.height, 0.0); + plane->SetPoint1( 0.5 * size.width, -0.5 * size.height, 0.0); + plane->SetPoint2(-0.5 * size.width, 0.5 * size.height, 0.0); + plane->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, plane->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + actor->GetProperty()->LightingOff(); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Size2d& size, const Color &color) +{ + Vec3d zvec = normalize(normal); + Vec3d xvec = normalize(new_yaxis.cross(zvec)); + Vec3d yvec = zvec.cross(xvec); + + WPlane plane(size, color); + plane.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center)); + *this = plane; +} + +template<> cv::viz::WPlane cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// arrow widget implementation + +cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness, const Color &color) +{ + vtkSmartPointer arrow_source = vtkSmartPointer::New(); + arrow_source->SetShaftRadius(thickness); + arrow_source->SetTipRadius(thickness * 3.0); + arrow_source->SetTipLength(thickness * 10.0); + + Vec3d arbitrary = get_random_vec(); + Vec3d start_point(pt1.x, pt1.y, pt1.z), end_point(pt2.x, pt2.y, pt2.z); + + double length = norm(end_point - start_point); + + Vec3d xvec = normalized(end_point - start_point); + Vec3d zvec = normalized(xvec.cross(arbitrary)); + Vec3d yvec = zvec.cross(xvec); + + Matx33d R = makeTransformToGlobal(xvec, yvec, zvec).rotation(); + Affine3d transform_with_scale(R * length, start_point); + + vtkSmartPointer polydata = VtkUtils::TransformPolydata(arrow_source->GetOutputPort(), transform_with_scale); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, polydata); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::WArrow cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// circle widget implementation + +cv::viz::WCircle::WCircle(double radius, double thickness, const Color &color) +{ + vtkSmartPointer disk = vtkSmartPointer::New(); + disk->SetCircumferentialResolution(30); + disk->SetInnerRadius(radius - thickness); + disk->SetOuterRadius(radius + thickness); + disk->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, disk->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->GetProperty()->LightingOff(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); + +} + +cv::viz::WCircle::WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness, const Color &color) +{ + Vec3d arbitrary = get_random_vec(); + Vec3d zvec = normalized(normal); + Vec3d xvec = normalized(zvec.cross(arbitrary)); + Vec3d yvec = zvec.cross(xvec); + + WCircle circle(radius, thickness, color); + circle.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center)); + *this = circle; +} + +template<> cv::viz::WCircle cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// WCone widget implementation + +cv::viz::WCone::WCone(double length, double radius, int resolution, const Color &color) +{ + vtkSmartPointer cone_source = vtkSmartPointer::New(); + cone_source->SetCenter(length*0.5, 0.0, 0.0); + cone_source->SetHeight(length); + cone_source->SetRadius(radius); + cone_source->SetResolution(resolution); + cone_source->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, cone_source->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +cv::viz::WCone::WCone(double radius, const Point3d& center, const Point3d& tip, int resolution, const Color &color) +{ + Vec3d arbitrary = get_random_vec(); + Vec3d xvec = normalized(Vec3d(tip - center)); + Vec3d zvec = normalized(xvec.cross(arbitrary)); + Vec3d yvec = zvec.cross(xvec); + + WCone circle(norm(tip - center), radius, resolution, color); + circle.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center)); + *this = circle; +} + +template<> cv::viz::WCone cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// cylinder widget implementation + +cv::viz::WCylinder::WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides, const Color &color) +{ + vtkSmartPointer line = vtkSmartPointer::New(); + line->SetPoint1(axis_point1.x, axis_point1.y, axis_point1.z); + line->SetPoint2(axis_point2.x, axis_point2.y, axis_point2.z); + + vtkSmartPointer tuber = vtkSmartPointer::New(); + tuber->SetInputConnection(line->GetOutputPort()); + tuber->SetNumberOfSides(numsides); + tuber->SetRadius(radius); + tuber->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, tuber->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::WCylinder cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// cylinder widget implementation + +cv::viz::WCube::WCube(const Point3d& min_point, const Point3d& max_point, bool wire_frame, const Color &color) +{ + double bounds[6]; + bounds[0] = std::min(min_point.x, max_point.x); + bounds[1] = std::max(min_point.x, max_point.x); + bounds[2] = std::min(min_point.y, max_point.y); + bounds[3] = std::max(min_point.y, max_point.y); + bounds[4] = std::min(min_point.z, max_point.z); + bounds[5] = std::max(min_point.z, max_point.z); + + vtkSmartPointer cube; + if (wire_frame) + { + cube = vtkSmartPointer::New(); + vtkOutlineSource::SafeDownCast(cube)->SetBounds(bounds); + } + else + { + cube = vtkSmartPointer::New(); + vtkCubeSource::SafeDownCast(cube)->SetBounds(bounds); + } + cube->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, cube->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::WCube cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// coordinate system widget implementation + +cv::viz::WCoordinateSystem::WCoordinateSystem(double scale) +{ + vtkSmartPointer axes = vtkSmartPointer::New(); + axes->SetOrigin(0, 0, 0); + axes->SetScaleFactor(scale); + axes->Update(); + + vtkSmartPointer colors = vtkSmartPointer::New(); + colors->SetNumberOfComponents(3); + colors->InsertNextTuple3(255, 0, 0); + colors->InsertNextTuple3(255, 0, 0); + colors->InsertNextTuple3(0, 255, 0); + colors->InsertNextTuple3(0, 255, 0); + colors->InsertNextTuple3(0, 0, 255); + colors->InsertNextTuple3(0, 0, 255); + + vtkSmartPointer polydata = axes->GetOutput(); + polydata->GetPointData()->SetScalars(colors); + + vtkSmartPointer tube_filter = vtkSmartPointer::New(); + VtkUtils::SetInputData(tube_filter, polydata); + tube_filter->SetRadius(axes->GetScaleFactor() / 50.0); + tube_filter->SetNumberOfSides(6); + tube_filter->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + mapper->SetScalarModeToUsePointData(); + VtkUtils::SetInputData(mapper, tube_filter->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +template<> cv::viz::WCoordinateSystem cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// polyline widget implementation + +cv::viz::WPolyLine::WPolyLine(InputArray _points, const Color &color) +{ + CV_Assert(_points.type() == CV_32FC3 || _points.type() == CV_32FC4 || _points.type() == CV_64FC3 || _points.type() == CV_64FC4); + + const float *fpoints = _points.getMat().ptr(); + const double *dpoints = _points.getMat().ptr(); + size_t total = _points.total(); + int s_chs = _points.channels(); + + vtkSmartPointer points = vtkSmartPointer::New(); + points->SetDataType(_points.depth() == CV_32F ? VTK_FLOAT : VTK_DOUBLE); + points->SetNumberOfPoints(total); + + if (_points.depth() == CV_32F) + for(size_t i = 0; i < total; ++i, fpoints += s_chs) + points->SetPoint(i, fpoints); + + if (_points.depth() == CV_64F) + for(size_t i = 0; i < total; ++i, dpoints += s_chs) + points->SetPoint(i, dpoints); + + vtkSmartPointer cell_array = vtkSmartPointer::New(); + cell_array->Allocate(cell_array->EstimateSize(1, total)); + cell_array->InsertNextCell(total); + for(size_t i = 0; i < total; ++i) + cell_array->InsertCellPoint(i); + + vtkSmartPointer scalars = VtkUtils::FillScalars(total, color); + + vtkSmartPointer polydata = vtkSmartPointer::New(); + polydata->SetPoints(points); + polydata->SetLines(cell_array); + polydata->GetPointData()->SetScalars(scalars); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, polydata); + mapper->SetScalarRange(0, 255); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +template<> cv::viz::WPolyLine cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// grid widget implementation + + +cv::viz::WGrid::WGrid(const Vec2i &cells, const Vec2d &cells_spacing, const Color &color) +{ + vtkSmartPointer grid_data = vtkSmartPointer::New(); + + // Add 1 to dimensions because in ImageData dimensions is the number of lines + // - however here it means number of cells + grid_data->SetDimensions(cells[0]+1, cells[1]+1, 1); + grid_data->SetSpacing(cells_spacing[0], cells_spacing[1], 0.); + + // Set origin of the grid to be the middle of the grid + grid_data->SetOrigin(cells[0] * cells_spacing[0] * (-0.5), cells[1] * cells_spacing[1] * (-0.5), 0); + + // Extract the edges so we have the grid + vtkSmartPointer extract_edges = vtkSmartPointer::New(); + VtkUtils::SetInputData(extract_edges, grid_data); + extract_edges->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, extract_edges->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +cv::viz::WGrid::WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Vec2i &cells, const Vec2d &cells_spacing, const Color &color) +{ + Vec3d zvec = normalize(normal); + Vec3d xvec = normalize(new_yaxis.cross(zvec)); + Vec3d yvec = zvec.cross(xvec); + + WGrid grid(cells, cells_spacing, color); + grid.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center)); + *this = grid; +} + +template<> cv::viz::WGrid cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// text3D widget implementation + +cv::viz::WText3D::WText3D(const String &text, const Point3d &position, double text_scale, bool face_camera, const Color &color) +{ + vtkSmartPointer textSource = vtkSmartPointer::New(); + textSource->SetText(text.c_str()); + textSource->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + mapper->SetInputConnection(textSource->GetOutputPort()); + + if (face_camera) + { + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + actor->SetPosition(position.x, position.y, position.z); + actor->SetScale(text_scale); + WidgetAccessor::setProp(*this, actor); + } + else + { + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + actor->SetPosition(position.x, position.y, position.z); + actor->SetScale(text_scale); + actor->GetProperty()->LightingOff(); + WidgetAccessor::setProp(*this, actor); + } + + setColor(color); +} + +void cv::viz::WText3D::setText(const String &text) +{ + vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("This widget does not support text." && actor); + + // Update text source + vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper()); + vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer()); + CV_Assert("This widget does not support text." && textSource); + + textSource->SetText(text.c_str()); + textSource->Modified(); + textSource->Update(); +} + +cv::String cv::viz::WText3D::getText() const +{ + vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("This widget does not support text." && actor); + + vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper()); + vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer()); + CV_Assert("This widget does not support text." && textSource); + + return textSource->GetText(); +} + +template<> cv::viz::WText3D cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// text widget implementation + +cv::viz::WText::WText(const String &text, const Point &pos, int font_size, const Color &color) +{ + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetDisplayPosition(pos.x, pos.y); + actor->SetInput(text.c_str()); + + actor->GetProperty()->SetDisplayLocationToForeground(); + + vtkSmartPointer tprop = actor->GetTextProperty(); + tprop->SetFontSize(font_size); + tprop->SetFontFamilyToCourier(); + tprop->SetJustificationToLeft(); + tprop->BoldOn(); + + Color c = vtkcolor(color); + tprop->SetColor(c.val); + + WidgetAccessor::setProp(*this, actor); +} + +template<> cv::viz::WText cv::viz::Widget::cast() +{ + Widget2D widget = this->cast(); + return static_cast(widget); +} + +void cv::viz::WText::setText(const String &text) +{ + vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("This widget does not support text." && actor); + actor->SetInput(text.c_str()); +} + +cv::String cv::viz::WText::getText() const +{ + vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("This widget does not support text." && actor); + return actor->GetInput(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// image overlay widget implementation + +cv::viz::WImageOverlay::WImageOverlay(InputArray image, const Rect &rect) +{ + CV_Assert(!image.empty() && image.depth() == CV_8U); + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetImage(image); + Size sz = image.size(); + + // Scale the image based on the Rect, and flip to match y-ais orientation + vtkSmartPointer transform = vtkSmartPointer::New(); + transform->Scale(sz.width/(double)rect.width, sz.height/(double)rect.height, 1.0); + transform->RotateX(180); + + vtkSmartPointer image_reslice = vtkSmartPointer::New(); + image_reslice->SetResliceTransform(transform); + image_reslice->SetInputConnection(source->GetOutputPort()); + image_reslice->SetOutputDimensionality(2); + image_reslice->InterpolateOn(); + image_reslice->AutoCropOutputOn(); + image_reslice->Update(); + + vtkSmartPointer image_mapper = vtkSmartPointer::New(); + image_mapper->SetInputConnection(image_reslice->GetOutputPort()); + image_mapper->SetColorWindow(255); // OpenCV color + image_mapper->SetColorLevel(127.5); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(image_mapper); + actor->SetPosition(rect.x, rect.y); + actor->GetProperty()->SetDisplayLocationToForeground(); + + WidgetAccessor::setProp(*this, actor); +} + +void cv::viz::WImageOverlay::setImage(InputArray image) +{ + CV_Assert(!image.empty() && image.depth() == CV_8U); + + vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("This widget does not support overlay image." && actor); + + vtkImageMapper *mapper = vtkImageMapper::SafeDownCast(actor->GetMapper()); + CV_Assert("This widget does not support overlay image." && mapper); + \ + Vec6i extent; + mapper->GetInput()->GetExtent(extent.val); + Size size(extent[1], extent[3]); + + // Create the vtk image and set its parameters based on input image + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetImage(image); + Size sz = image.size(); + + // Scale the image based on the Rect, and flip to match y-ais orientation + vtkSmartPointer transform = vtkSmartPointer::New(); + transform->Scale(sz.width/(double)size.width, sz.height/(double)size.height, 1.0); + transform->RotateX(180); + + vtkSmartPointer image_reslice = vtkSmartPointer::New(); + image_reslice->SetResliceTransform(transform); + image_reslice->SetInputConnection(source->GetOutputPort()); + image_reslice->SetOutputDimensionality(2); + image_reslice->InterpolateOn(); + image_reslice->AutoCropOutputOn(); + image_reslice->Update(); + + mapper->SetInputConnection(image_reslice->GetOutputPort()); +} + +template<> cv::viz::WImageOverlay cv::viz::Widget::cast() +{ + Widget2D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// image 3D widget implementation + +cv::viz::WImage3D::WImage3D(InputArray image, const Size2d &size) +{ + CV_Assert(!image.empty() && image.depth() == CV_8U); + + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetImage(image); + + vtkSmartPointer texture = vtkSmartPointer::New(); + texture->SetInputConnection(source->GetOutputPort()); + + vtkSmartPointer plane = vtkSmartPointer::New(); + plane->SetOrigin(-0.5 * size.width, -0.5 * size.height, 0.0); + plane->SetPoint1( 0.5 * size.width, -0.5 * size.height, 0.0); + plane->SetPoint2(-0.5 * size.width, 0.5 * size.height, 0.0); + + vtkSmartPointer textured_plane = vtkSmartPointer::New(); + textured_plane->SetInputConnection(plane->GetOutputPort()); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + mapper->SetInputConnection(textured_plane->GetOutputPort()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + actor->SetTexture(texture); + actor->GetProperty()->ShadingOff(); + actor->GetProperty()->LightingOff(); + + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::WImage3D::WImage3D(InputArray image, const Size2d &size, const Vec3d ¢er, const Vec3d &normal, const Vec3d &up_vector) +{ + CV_Assert(!image.empty() && image.depth() == CV_8U); + + // Compute the transformation matrix for drawing the camera frame in a scene + Vec3d n = normalize(normal); + Vec3d u = normalize(up_vector.cross(n)); + Vec3d v = n.cross(u); + Affine3d pose = makeTransformToGlobal(u, v, n, center); + + WImage3D image3d(image, size); + image3d.applyTransform(pose); + *this = image3d; +} + +void cv::viz::WImage3D::setImage(InputArray image) +{ + CV_Assert(!image.empty() && image.depth() == CV_8U); + + vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("This widget does not support 3D image." && actor); + + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetImage(image); + + vtkSmartPointer texture = vtkSmartPointer::New(); + texture->SetInputConnection(source->GetOutputPort()); + + actor->SetTexture(texture); +} + +template<> cv::viz::WImage3D cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// camera position widget implementation + +namespace cv { namespace viz { namespace +{ + struct CameraPositionUtils + { + static vtkSmartPointer createFrustum(double aspect_ratio, double fovy, double scale) + { + vtkSmartPointer camera = vtkSmartPointer::New(); + camera->SetViewAngle(fovy); + camera->SetPosition(0.0, 0.0, 0.0); + camera->SetViewUp(0.0, 1.0, 0.0); + camera->SetFocalPoint(0.0, 0.0, 1.0); + camera->SetClippingRange(1e-9, scale); + + double planes_array[24]; + camera->GetFrustumPlanes(aspect_ratio, planes_array); + + vtkSmartPointer planes = vtkSmartPointer::New(); + planes->SetFrustumPlanes(planes_array); + + vtkSmartPointer frustumSource = vtkSmartPointer::New(); + frustumSource->SetPlanes(planes); + + vtkSmartPointer extract_edges = vtkSmartPointer::New(); + extract_edges->SetInputConnection(frustumSource->GetOutputPort()); + extract_edges->Update(); + + return extract_edges->GetOutput(); + } + + static Mat ensureColorImage(InputArray image) + { + Mat color(image.size(), CV_8UC3); + if (image.channels() == 1) + { + Vec3b *drow = color.ptr(); + for(int y = 0; y < color.rows; ++y) + { + const unsigned char *srow = image.getMat().ptr(y); + const unsigned char *send = srow + color.cols; + for(;srow < send;) + *drow++ = Vec3b::all(*srow++); + } + } + else + image.getMat().copyTo(color); + return color; + } + }; +}}} + +cv::viz::WCameraPosition::WCameraPosition(double scale) +{ + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, getPolyData(WCoordinateSystem(scale))); + mapper->SetScalarModeToUsePointData(); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const Color &color) +{ + double f_x = K(0,0), f_y = K(1,1), c_y = K(1,2); + + // Assuming that this is an ideal camera (c_y and c_x are at the center of the image) + double fovy = 2.0 * atan2(c_y, f_y) * 180 / CV_PI; + double aspect_ratio = f_y / f_x; + + vtkSmartPointer polydata = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, polydata); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const Color &color) +{ + double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5); + double fovy = fov[1] * 180 / CV_PI; + + vtkSmartPointer polydata = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, polydata); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, InputArray _image, double scale, const Color &color) +{ + CV_Assert(!_image.empty() && _image.depth() == CV_8U); + Mat image = CameraPositionUtils::ensureColorImage(_image); + image.at(0, 0) = Vec3d(color.val); //workaround of VTK limitation + + double f_y = K(1,1), c_y = K(1,2); + // Assuming that this is an ideal camera (c_y and c_x are at the center of the image) + double fovy = 2.0 * atan2(c_y, f_y) * 180.0 / CV_PI; + double far_end_height = 2.00 * c_y * scale / f_y; + double aspect_ratio = image.cols/(double)image.rows; + double image_scale = far_end_height/image.rows; + + WImage3D image_widget(image, Size2d(image.cols, image.rows) * image_scale); + image_widget.applyTransform(Affine3d().translate(Vec3d(0, 0, scale))); + vtkSmartPointer plane = getPolyData(image_widget); + + vtkSmartPointer frustum = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale); + + // Frustum needs to be textured or else it can't be combined with image + vtkSmartPointer frustum_texture = vtkSmartPointer::New(); + VtkUtils::SetInputData(frustum_texture, frustum); + frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel + frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color + + vtkSmartPointer append_filter = vtkSmartPointer::New(); + append_filter->AddInputConnection(frustum_texture->GetOutputPort()); + VtkUtils::AddInputData(append_filter, plane); + + vtkSmartPointer actor = getActor(image_widget); + actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort()); + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, InputArray _image, double scale, const Color &color) +{ + CV_Assert(!_image.empty() && _image.depth() == CV_8U); + Mat image = CameraPositionUtils::ensureColorImage(_image); + image.at(0, 0) = Vec3d(color.val); //workaround of VTK limitation + + double fovy = fov[1] * 180.0 / CV_PI; + double far_end_height = 2.0 * scale * tan(fov[1] * 0.5); + double aspect_ratio = image.cols/(double)image.rows; + double image_scale = far_end_height/image.rows; + + WImage3D image_widget(image, Size2d(image.cols, image.rows) * image_scale); + image_widget.applyTransform(Affine3d().translate(Vec3d(0, 0, scale))); + vtkSmartPointer plane = getPolyData(image_widget); + + vtkSmartPointer frustum = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale); + + // Frustum needs to be textured or else it can't be combined with image + vtkSmartPointer frustum_texture = vtkSmartPointer::New(); + VtkUtils::SetInputData(frustum_texture, frustum); + frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel + frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color + + vtkSmartPointer append_filter = vtkSmartPointer::New(); + append_filter->AddInputConnection(frustum_texture->GetOutputPort()); + VtkUtils::AddInputData(append_filter, plane); + + vtkSmartPointer actor = getActor(image_widget); + actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort()); + WidgetAccessor::setProp(*this, actor); +} + +template<> cv::viz::WCameraPosition cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// trajectory widget implementation + +cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double scale, const Color &color) +{ + vtkSmartPointer append_filter = vtkSmartPointer::New(); + + // Bitwise and with 3 in order to limit the domain to 2 bits + if (display_mode & WTrajectory::PATH) + { + Mat points = vtkTrajectorySource::ExtractPoints(_path); + vtkSmartPointer polydata = getPolyData(WPolyLine(points, color)); + VtkUtils::AddInputData(append_filter, polydata); + } + + if (display_mode & WTrajectory::FRAMES) + { + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetTrajectory(_path); + + vtkSmartPointer glyph = getPolyData(WCoordinateSystem(scale)); + + vtkSmartPointer tensor_glyph = vtkSmartPointer::New(); + tensor_glyph->SetInputConnection(source->GetOutputPort()); + VtkUtils::SetSourceData(tensor_glyph, glyph); + tensor_glyph->ExtractEigenvaluesOff(); // Treat as a rotation matrix, not as something with eigenvalues + tensor_glyph->ThreeGlyphsOff(); + tensor_glyph->SymmetricOff(); + tensor_glyph->ColorGlyphsOff(); + + append_filter->AddInputConnection(tensor_glyph->GetOutputPort()); + } + append_filter->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, append_filter->GetOutput()); + mapper->SetScalarModeToUsePointData(); + mapper->SetScalarRange(0, 255); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +template<> cv::viz::WTrajectory cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// WTrajectoryFrustums widget implementation + +cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Matx33d &K, double scale, const Color &color) +{ + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetTrajectory(_path); + + vtkSmartPointer glyph = getPolyData(WCameraPosition(K, scale)); + + vtkSmartPointer tensor_glyph = vtkSmartPointer::New(); + tensor_glyph->SetInputConnection(source->GetOutputPort()); + VtkUtils::SetSourceData(tensor_glyph, glyph); + tensor_glyph->ExtractEigenvaluesOff(); // Treat as a rotation matrix, not as something with eigenvalues + tensor_glyph->ThreeGlyphsOff(); + tensor_glyph->SymmetricOff(); + tensor_glyph->ColorGlyphsOff(); + tensor_glyph->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, tensor_glyph->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Vec2d &fov, double scale, const Color &color) +{ + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetTrajectory(_path); + + vtkSmartPointer glyph = getPolyData(WCameraPosition(fov, scale)); + + vtkSmartPointer tensor_glyph = vtkSmartPointer::New(); + tensor_glyph->SetInputConnection(source->GetOutputPort()); + VtkUtils::SetSourceData(tensor_glyph, glyph); + tensor_glyph->ExtractEigenvaluesOff(); // Treat as a rotation matrix, not as something with eigenvalues + tensor_glyph->ThreeGlyphsOff(); + tensor_glyph->SymmetricOff(); + tensor_glyph->ColorGlyphsOff(); + tensor_glyph->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + VtkUtils::SetInputData(mapper, tensor_glyph->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// WTrajectorySpheres widget implementation + +cv::viz::WTrajectorySpheres::WTrajectorySpheres(InputArray _path, double line_length, double radius, const Color &from, const Color &to) +{ + CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT); + CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16)); + + Mat path64; + _path.getMat().convertTo(path64, CV_64F); + Affine3d *traj = path64.ptr(); + size_t total = path64.total(); + + vtkSmartPointer append_filter = vtkSmartPointer::New(); + + for(size_t i = 0; i < total; ++i) + { + Vec3d curr = traj[i].translation(); + + vtkSmartPointer sphere_source = vtkSmartPointer::New(); + sphere_source->SetCenter(curr.val); + sphere_source->SetRadius( (i == 0) ? 2 * radius : radius ); + sphere_source->Update(); + + double alpha = static_cast(i)/total; + Color c = from * (1 - alpha) + to * alpha; + + vtkSmartPointer polydata = sphere_source->GetOutput(); + polydata->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata->GetNumberOfCells(), c)); + VtkUtils::AddInputData(append_filter, polydata); + + if (i > 0) + { + Vec3d prev = traj[i-1].translation(); + Vec3d lvec = prev - curr; + + if(norm(lvec) > line_length) + lvec = normalize(lvec) * line_length; + + Vec3d lend = curr + lvec; + + vtkSmartPointer line_source = vtkSmartPointer::New(); + line_source->SetPoint1(curr.val); + line_source->SetPoint2(lend.val); + line_source->Update(); + vtkSmartPointer polydata_ = line_source->GetOutput(); + polydata_->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata_->GetNumberOfCells(), c)); + VtkUtils::AddInputData(append_filter, polydata_); + } + } + append_filter->Update(); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + mapper->SetScalarModeToUseCellData(); + VtkUtils::SetInputData(mapper, append_filter->GetOutput()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); +} + +template<> cv::viz::WTrajectorySpheres cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} diff --git a/modules/viz/src/types.cpp b/modules/viz/src/types.cpp new file mode 100644 index 0000000000..2e32a63279 --- /dev/null +++ b/modules/viz/src/types.cpp @@ -0,0 +1,206 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +//////////////////////////////////////////////////////////////////// +/// Events + +cv::viz::KeyboardEvent::KeyboardEvent(Action _action, const String& _symbol, unsigned char _code, int _modifiers) + : action(_action), symbol(_symbol), code(_code), modifiers(_modifiers) {} + +cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, const Point& _pointer, int _modifiers) + : type(_type), button(_button), pointer(_pointer), modifiers(_modifiers) {} + +//////////////////////////////////////////////////////////////////// +/// cv::viz::Mesh3d + +cv::viz::Mesh cv::viz::Mesh::load(const String& file) +{ + vtkSmartPointer reader = vtkSmartPointer::New(); + reader->SetFileName(file.c_str()); + reader->Update(); + + vtkSmartPointer polydata = reader->GetOutput(); + CV_Assert("File does not exist or file format is not supported." && polydata); + + Mesh mesh; + vtkSmartPointer sink = vtkSmartPointer::New(); + sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords); + sink->SetInputConnection(reader->GetOutputPort()); + sink->Write(); + + // Now handle the polygons + vtkSmartPointer polygons = polydata->GetPolys(); + mesh.polygons.create(1, polygons->GetSize(), CV_32SC1); + int* poly_ptr = mesh.polygons.ptr(); + + polygons->InitTraversal(); + vtkIdType nr_cell_points, *cell_points; + while (polygons->GetNextCell(nr_cell_points, cell_points)) + { + *poly_ptr++ = nr_cell_points; + for (vtkIdType i = 0; i < nr_cell_points; ++i) + *poly_ptr++ = (int)cell_points[i]; + } + + return mesh; +} + +//////////////////////////////////////////////////////////////////// +/// Camera implementation + +cv::viz::Camera::Camera(double fx, double fy, double cx, double cy, const Size &window_size) +{ + init(fx, fy, cx, cy, window_size); +} + +cv::viz::Camera::Camera(const Vec2d &fov, const Size &window_size) +{ + CV_Assert(window_size.width > 0 && window_size.height > 0); + setClip(Vec2d(0.01, 1000.01)); // Default clipping + setFov(fov); + window_size_ = window_size; + // Principal point at the center + principal_point_ = Vec2f(static_cast(window_size.width)*0.5f, static_cast(window_size.height)*0.5f); + focal_ = Vec2f(principal_point_[0] / tan(fov_[0]*0.5f), principal_point_[1] / tan(fov_[1]*0.5f)); +} + +cv::viz::Camera::Camera(const cv::Matx33d & K, const Size &window_size) +{ + double f_x = K(0,0); + double f_y = K(1,1); + double c_x = K(0,2); + double c_y = K(1,2); + init(f_x, f_y, c_x, c_y, window_size); +} + +cv::viz::Camera::Camera(const Matx44d &proj, const Size &window_size) +{ + CV_Assert(window_size.width > 0 && window_size.height > 0); + + double near = proj(2,3) / (proj(2,2) - 1.0); + double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0); + double left = near * (proj(0,2)-1) / proj(0,0); + double right = 2.0 * near / proj(0,0) + left; + double bottom = near * (proj(1,2)-1) / proj(1,1); + double top = 2.0 * near / proj(1,1) + bottom; + + double epsilon = 2.2204460492503131e-16; + + principal_point_[0] = fabs(left-right) < epsilon ? window_size.width * 0.5 : (left * window_size.width) / (left - right); + principal_point_[1] = fabs(top-bottom) < epsilon ? window_size.height * 0.5 : (top * window_size.height) / (top - bottom); + + focal_[0] = -near * principal_point_[0] / left; + focal_[1] = near * principal_point_[1] / top; + + setClip(Vec2d(near, far)); + fov_[0] = atan2(principal_point_[0], focal_[0]) + atan2(window_size.width-principal_point_[0], focal_[0]); + fov_[1] = atan2(principal_point_[1], focal_[1]) + atan2(window_size.height-principal_point_[1], focal_[1]); + + window_size_ = window_size; +} + +void cv::viz::Camera::init(double fx, double fy, double cx, double cy, const Size &window_size) +{ + CV_Assert(window_size.width > 0 && window_size.height > 0); + setClip(Vec2d(0.01, 1000.01));// Default clipping + + fov_[0] = atan2(cx, fx) + atan2(window_size.width - cx, fx); + fov_[1] = atan2(cy, fy) + atan2(window_size.height - cy, fy); + + principal_point_[0] = cx; + principal_point_[1] = cy; + + focal_[0] = fx; + focal_[1] = fy; + + window_size_ = window_size; +} + +void cv::viz::Camera::setWindowSize(const Size &window_size) +{ + CV_Assert(window_size.width > 0 && window_size.height > 0); + + // Get the scale factor and update the principal points + float scalex = static_cast(window_size.width) / static_cast(window_size_.width); + float scaley = static_cast(window_size.height) / static_cast(window_size_.height); + + principal_point_[0] *= scalex; + principal_point_[1] *= scaley; + focal_ *= scaley; + // Vertical field of view is fixed! Update horizontal field of view + fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])); + + window_size_ = window_size; +} + +void cv::viz::Camera::computeProjectionMatrix(Matx44d &proj) const +{ + double top = clip_[0] * principal_point_[1] / focal_[1]; + double left = -clip_[0] * principal_point_[0] / focal_[0]; + double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0]; + double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1]; + + double temp1 = 2.0 * clip_[0]; + double temp2 = 1.0 / (right - left); + double temp3 = 1.0 / (top - bottom); + double temp4 = 1.0 / (clip_[0] - clip_[1]); + + proj = Matx44d::zeros(); + proj(0,0) = temp1 * temp2; + proj(1,1) = temp1 * temp3; + proj(0,2) = (right + left) * temp2; + proj(1,2) = (top + bottom) * temp3; + proj(2,2) = (clip_[1]+clip_[0]) * temp4; + proj(3,2) = -1.0; + proj(2,3) = (temp1 * clip_[1]) * temp4; +} + +cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size) +{ + Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0); + return Camera(K, window_size); +} diff --git a/modules/viz/src/viz3d.cpp b/modules/viz/src/viz3d.cpp new file mode 100644 index 0000000000..56f978c0ea --- /dev/null +++ b/modules/viz/src/viz3d.cpp @@ -0,0 +1,148 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name); } + +cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_) +{ + if (impl_) + CV_XADD(&impl_->ref_counter, 1); +} + +cv::viz::Viz3d& cv::viz::Viz3d::operator=(const Viz3d& other) +{ + if (this != &other) + { + release(); + impl_ = other.impl_; + if (impl_) + CV_XADD(&impl_->ref_counter, 1); + } + return *this; +} + +cv::viz::Viz3d::~Viz3d() { release(); } + +void cv::viz::Viz3d::create(const String &window_name) +{ + if (impl_) + release(); + + if (VizStorage::windowExists(window_name)) + *this = VizStorage::get(window_name); + else + { + impl_ = new VizImpl(window_name); + impl_->ref_counter = 1; + + // Register the window + VizStorage::add(*this); + } +} + +void cv::viz::Viz3d::release() +{ + if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1) + { + delete impl_; + impl_ = 0; + } + + if (impl_ && impl_->ref_counter == 1) + VizStorage::removeUnreferenced(); + + impl_ = 0; +} + +void cv::viz::Viz3d::spin() { impl_->spin(); } +void cv::viz::Viz3d::spinOnce(int time, bool force_redraw) { impl_->spinOnce(time, force_redraw); } +bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); } +void cv::viz::Viz3d::close() { impl_->close(); } + +void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* cookie) +{ impl_->registerKeyboardCallback(callback, cookie); } + +void cv::viz::Viz3d::registerMouseCallback(MouseCallback callback, void* cookie) +{ impl_->registerMouseCallback(callback, cookie); } + +void cv::viz::Viz3d::showWidget(const String &id, const Widget &widget, const Affine3d &pose) { impl_->showWidget(id, widget, pose); } +void cv::viz::Viz3d::removeWidget(const String &id) { impl_->removeWidget(id); } +cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const { return impl_->getWidget(id); } +void cv::viz::Viz3d::removeAllWidgets() { impl_->removeAllWidgets(); } + +void cv::viz::Viz3d::showImage(InputArray image, const Size& window_size) { impl_->showImage(image, window_size); } + +void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3d &pose) { impl_->setWidgetPose(id, pose); } +void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3d &pose) { impl_->updateWidgetPose(id, pose); } +cv::Affine3d cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); } + +void cv::viz::Viz3d::setCamera(const Camera &camera) { impl_->setCamera(camera); } +cv::viz::Camera cv::viz::Viz3d::getCamera() const { return impl_->getCamera(); } +void cv::viz::Viz3d::setViewerPose(const Affine3d &pose) { impl_->setViewerPose(pose); } +cv::Affine3d cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); } + +void cv::viz::Viz3d::resetCameraViewpoint(const String &id) { impl_->resetCameraViewpoint(id); } +void cv::viz::Viz3d::resetCamera() { impl_->resetCamera(); } + +void cv::viz::Viz3d::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); } +void cv::viz::Viz3d::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) { impl_->converTo3DRay(window_coord, origin, direction); } + +cv::Size cv::viz::Viz3d::getWindowSize() const { return impl_->getWindowSize(); } +void cv::viz::Viz3d::setWindowSize(const Size &window_size) { impl_->setWindowSize(window_size); } +cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); } +void cv::viz::Viz3d::saveScreenshot(const String &file) { impl_->saveScreenshot(file); } +void cv::viz::Viz3d::setWindowPosition(const Point& window_position) { impl_->setWindowPosition(window_position); } +void cv::viz::Viz3d::setFullScreen(bool mode) { impl_->setFullScreen(mode); } +void cv::viz::Viz3d::setBackgroundColor(const Color& color, const Color& color2) { impl_->setBackgroundColor(color, color2); } + +void cv::viz::Viz3d::setBackgroundTexture(InputArray image) { impl_->setBackgroundTexture(image); } +void cv::viz::Viz3d::setBackgroundMeshLab() {impl_->setBackgroundMeshLab(); } + +void cv::viz::Viz3d::setRenderingProperty(const String &id, int property, double value) { getWidget(id).setRenderingProperty(property, value); } +double cv::viz::Viz3d::getRenderingProperty(const String &id, int property) { return getWidget(id).getRenderingProperty(property); } + +void cv::viz::Viz3d::setRepresentation(int representation) { impl_->setRepresentation(representation); } diff --git a/modules/viz/src/vizcore.cpp b/modules/viz/src/vizcore.cpp new file mode 100644 index 0000000000..b4ec83bd44 --- /dev/null +++ b/modules/viz/src/vizcore.cpp @@ -0,0 +1,312 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +cv::Affine3d cv::viz::makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin) +{ + Affine3d::Mat3 R(axis_x[0], axis_y[0], axis_z[0], + axis_x[1], axis_y[1], axis_z[1], + axis_x[2], axis_y[2], axis_z[2]); + + return Affine3d(R, origin); +} + +cv::Affine3d cv::viz::makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir) +{ + // Compute the transformation matrix for drawing the camera frame in a scene + Vec3d n = normalize(focal_point - position); + Vec3d u = normalize(y_dir.cross(n)); + Vec3d v = n.cross(u); + + return makeTransformToGlobal(u, v, n, position); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// VizStorage implementation + +cv::viz::VizMap cv::viz::VizStorage::storage; +void cv::viz::VizStorage::unregisterAll() { storage.clear(); } + +cv::viz::Viz3d& cv::viz::VizStorage::get(const String &window_name) +{ + String name = generateWindowName(window_name); + VizMap::iterator vm_itr = storage.find(name); + CV_Assert(vm_itr != storage.end()); + return vm_itr->second; +} + +void cv::viz::VizStorage::add(const Viz3d& window) +{ + String window_name = window.getWindowName(); + VizMap::iterator vm_itr = storage.find(window_name); + CV_Assert(vm_itr == storage.end()); + storage.insert(std::make_pair(window_name, window)); +} + +bool cv::viz::VizStorage::windowExists(const String &window_name) +{ + String name = generateWindowName(window_name); + return storage.find(name) != storage.end(); +} + +void cv::viz::VizStorage::removeUnreferenced() +{ + for(VizMap::iterator pos = storage.begin(); pos != storage.end();) + if(pos->second.impl_->ref_counter == 1) + storage.erase(pos++); + else + ++pos; +} + +cv::String cv::viz::VizStorage::generateWindowName(const String &window_name) +{ + String output = "Viz"; + // Already is Viz + if (window_name == output) + return output; + + String prefixed = output + " - "; + if (window_name.substr(0, prefixed.length()) == prefixed) + output = window_name; // Already has "Viz - " + else if (window_name.substr(0, output.length()) == output) + output = prefixed + window_name; // Doesn't have prefix + else + output = (window_name == "" ? output : prefixed + window_name); + + return output; +} + +cv::viz::Viz3d cv::viz::getWindowByName(const String &window_name) { return Viz3d (window_name); } +void cv::viz::unregisterAllWindows() { VizStorage::unregisterAll(); } + +cv::viz::Viz3d cv::viz::imshow(const String& window_name, InputArray image, const Size& window_size) +{ + Viz3d viz = getWindowByName(window_name); + viz.showImage(image, window_size); + return viz; +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Read/write clouds. Supported formats: ply, stl, xyz, obj + +void cv::viz::writeCloud(const String& file, InputArray cloud, InputArray colors, InputArray normals, bool binary) +{ + CV_Assert(file.size() > 4 && "Extention is required"); + String extention = file.substr(file.size()-4); + + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetColorCloudNormals(cloud, colors, normals); + + vtkSmartPointer writer; + if (extention == ".xyz") + { + writer = vtkSmartPointer::New(); + vtkXYZWriter::SafeDownCast(writer)->SetFileName(file.c_str()); + } + else if (extention == ".ply") + { + writer = vtkSmartPointer::New(); + vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str()); + vtkPLYWriter::SafeDownCast(writer)->SetFileType(binary ? VTK_BINARY : VTK_ASCII); + vtkPLYWriter::SafeDownCast(writer)->SetArrayName("Colors"); + } + else if (extention == ".obj") + { + writer = vtkSmartPointer::New(); + vtkOBJWriter::SafeDownCast(writer)->SetFileName(file.c_str()); + } + else + CV_Assert(!"Unsupported format"); + + writer->SetInputConnection(source->GetOutputPort()); + writer->Write(); +} + +cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray normals) +{ + CV_Assert(file.size() > 4 && "Extention is required"); + String extention = file.substr(file.size()-4); + + vtkSmartPointer reader; + if (extention == ".xyz") + { + reader = vtkSmartPointer::New(); + vtkSimplePointsReader::SafeDownCast(reader)->SetFileName(file.c_str()); + } + else if (extention == ".ply") + { + reader = vtkSmartPointer::New(); + CV_Assert(vtkPLYReader::CanReadFile(file.c_str())); + vtkPLYReader::SafeDownCast(reader)->SetFileName(file.c_str()); + } + else if (extention == ".obj") + { + reader = vtkSmartPointer::New(); + vtkOBJReader::SafeDownCast(reader)->SetFileName(file.c_str()); + } + else if (extention == ".stl") + { + reader = vtkSmartPointer::New(); + vtkSTLReader::SafeDownCast(reader)->SetFileName(file.c_str()); + } + else + CV_Assert(!"Unsupported format"); + + cv::Mat cloud; + + vtkSmartPointer sink = vtkSmartPointer::New(); + sink->SetInputConnection(reader->GetOutputPort()); + sink->SetOutput(cloud, colors, normals); + sink->Write(); + + return cloud; +} + +cv::viz::Mesh cv::viz::readMesh(const String& file) { return Mesh::load(file); } + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Read/write poses and trajectories + +bool cv::viz::readPose(const String& file, Affine3d& pose, const String& tag) +{ + FileStorage fs(file, FileStorage::READ); + if (!fs.isOpened()) + return false; + + Mat hdr(pose.matrix, false); + fs[tag] >> hdr; + if (hdr.empty() || hdr.cols != pose.matrix.cols || hdr.rows != pose.matrix.rows) + return false; + + hdr.convertTo(pose.matrix, CV_64F); + return true; +} + +void cv::viz::writePose(const String& file, const Affine3d& pose, const String& tag) +{ + FileStorage fs(file, FileStorage::WRITE); + fs << tag << Mat(pose.matrix, false); +} + +void cv::viz::readTrajectory(OutputArray _traj, const String& files_format, int start, int end, const String& tag) +{ + CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT); + + start = max(0, std::min(start, end)); + end = std::max(start, end); + + std::vector traj; + + for(int i = start; i < end; ++i) + { + Affine3d affine; + bool ok = readPose(cv::format(files_format.c_str(), i), affine, tag); + if (!ok) + break; + + traj.push_back(affine); + } + + Mat(traj).convertTo(_traj, _traj.depth()); +} + +void cv::viz::writeTrajectory(InputArray _traj, const String& files_format, int start, const String& tag) +{ + if (_traj.kind() == _InputArray::STD_VECTOR_MAT) + { + std::vector& v = *(std::vector*)_traj.obj; + + for(size_t i = 0, index = max(0, start); i < v.size(); ++i, ++index) + { + Affine3d affine; + Mat pose = v[i]; + CV_Assert(pose.type() == CV_32FC(16) || pose.type() == CV_64FC(16)); + pose.copyTo(affine.matrix); + writePose(cv::format(files_format.c_str(), index), affine, tag); + } + return; + } + + if (_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT) + { + CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16)); + + Mat traj = _traj.getMat(); + + if (traj.depth() == CV_32F) + for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index) + writePose(cv::format(files_format.c_str(), index), traj.at(i), tag); + + if (traj.depth() == CV_64F) + for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index) + writePose(cv::format(files_format.c_str(), index), traj.at(i), tag); + } + + CV_Assert(!"Unsupported array kind"); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Computing normals for mesh + +void cv::viz::computeNormals(const Mesh& mesh, OutputArray _normals) +{ + vtkSmartPointer polydata = getPolyData(WMesh(mesh)); + vtkSmartPointer with_normals = VtkUtils::ComputeNormals(polydata); + + vtkSmartPointer generic_normals = with_normals->GetPointData()->GetNormals(); + if(generic_normals) + { + Mat normals(1, generic_normals->GetNumberOfTuples(), CV_64FC3); + Vec3d *optr = normals.ptr(); + + for(int i = 0; i < generic_normals->GetNumberOfTuples(); ++i, ++optr) + generic_normals->GetTuple(i, optr->val); + + normals.convertTo(_normals, mesh.cloud.type()); + } + else + _normals.release(); +} diff --git a/modules/viz/src/vizimpl.cpp b/modules/viz/src/vizimpl.cpp new file mode 100644 index 0000000000..5fa49e2f96 --- /dev/null +++ b/modules/viz/src/vizimpl.cpp @@ -0,0 +1,542 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + + +///////////////////////////////////////////////////////////////////////////////////////////// +cv::viz::Viz3d::VizImpl::VizImpl(const String &name) : spin_once_state_(false), + window_position_(Vec2i(std::numeric_limits::min())), widget_actor_map_(new WidgetActorMap) +{ + renderer_ = vtkSmartPointer::New(); + window_name_ = VizStorage::generateWindowName(name); + + // Create render window + window_ = vtkSmartPointer::New(); + cv::Vec2i window_size = cv::Vec2i(window_->GetScreenSize()) / 2; + window_->SetSize(window_size.val); + window_->AddRenderer(renderer_); + + // Create the interactor style + style_ = vtkSmartPointer::New(); + style_->setWidgetActorMap(widget_actor_map_); + style_->UseTimersOn(); + style_->Initialize(); + + timer_callback_ = vtkSmartPointer::New(); + exit_callback_ = vtkSmartPointer::New(); + exit_callback_->viz = this; +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::TimerCallback::Execute(vtkObject* caller, unsigned long event_id, void* cookie) +{ + if (event_id == vtkCommand::TimerEvent && timer_id == *reinterpret_cast(cookie)) + { + vtkSmartPointer interactor = vtkRenderWindowInteractor::SafeDownCast(caller); + interactor->TerminateApp(); + } +} + +void cv::viz::Viz3d::VizImpl::ExitCallback::Execute(vtkObject*, unsigned long event_id, void*) +{ + if (event_id == vtkCommand::ExitEvent) + { + viz->interactor_->TerminateApp(); + viz->interactor_ = 0; + } +} + +///////////////////////////////////////////////////////////////////////////////////////////// + +bool cv::viz::Viz3d::VizImpl::wasStopped() const +{ + bool stopped = spin_once_state_ ? interactor_ == 0 : false; + spin_once_state_ &= !stopped; + return stopped; +} + +void cv::viz::Viz3d::VizImpl::close() +{ + if (!interactor_) + return; + interactor_->GetRenderWindow()->Finalize(); + interactor_->TerminateApp(); // This tends to close the window... + interactor_ = 0; +} + +void cv::viz::Viz3d::VizImpl::recreateRenderWindow() +{ +#if !defined _MSC_VER + //recreating is workaround for Ubuntu -- a crash in x-server + Vec2i window_size(window_->GetSize()); + int fullscreen = window_->GetFullScreen(); + + window_ = vtkSmartPointer::New(); + if (window_position_[0] != std::numeric_limits::min()) //also workaround + window_->SetPosition(window_position_.val); + + window_->SetSize(window_size.val); + window_->SetFullScreen(fullscreen); + window_->AddRenderer(renderer_); +#endif +} + + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::spin() +{ + recreateRenderWindow(); + interactor_ = vtkSmartPointer::New(); + interactor_->SetRenderWindow(window_); + interactor_->SetInteractorStyle(style_); + window_->AlphaBitPlanesOff(); + window_->PointSmoothingOff(); + window_->LineSmoothingOff(); + window_->PolygonSmoothingOff(); + window_->SwapBuffersOn(); + window_->SetStereoTypeToAnaglyph(); + window_->Render(); + window_->SetWindowName(window_name_.c_str()); + interactor_->Start(); + interactor_ = 0; +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::spinOnce(int time, bool force_redraw) +{ + if (interactor_ == 0) + { + spin_once_state_ = true; + recreateRenderWindow(); + interactor_ = vtkSmartPointer::New(); + interactor_->SetRenderWindow(window_); + interactor_->SetInteractorStyle(style_); + interactor_->AddObserver(vtkCommand::TimerEvent, timer_callback_); + interactor_->AddObserver(vtkCommand::ExitEvent, exit_callback_); + window_->AlphaBitPlanesOff(); + window_->PointSmoothingOff(); + window_->LineSmoothingOff(); + window_->PolygonSmoothingOff(); + window_->SwapBuffersOn(); + window_->SetStereoTypeToAnaglyph(); + window_->Render(); + window_->SetWindowName(window_name_.c_str()); + } + + vtkSmartPointer local = interactor_; + + if (force_redraw) + local->Render(); + + timer_callback_->timer_id = local->CreateRepeatingTimer(std::max(1, time)); + local->Start(); + local->DestroyTimer(timer_callback_->timer_id); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget, const Affine3d &pose) +{ + WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id); + bool exists = wam_itr != widget_actor_map_->end(); + if (exists) + { + // Remove it if it exists and add it again + removeActorFromRenderer(wam_itr->second); + } + // Get the actor and set the user matrix + vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(widget)); + if (actor) + { + // If the actor is 3D, apply pose + vtkSmartPointer matrix = vtkmatrix(pose.matrix); + actor->SetUserMatrix(matrix); + actor->Modified(); + } + // If the actor is a vtkFollower, then it should always face the camera + vtkFollower *follower = vtkFollower::SafeDownCast(actor); + if (follower) + { + follower->SetCamera(renderer_->GetActiveCamera()); + } + + renderer_->AddActor(WidgetAccessor::getProp(widget)); + (*widget_actor_map_)[id] = WidgetAccessor::getProp(widget); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::removeWidget(const String &id) +{ + WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id); + bool exists = wam_itr != widget_actor_map_->end(); + CV_Assert("Widget does not exist." && exists); + CV_Assert("Widget could not be removed." && removeActorFromRenderer(wam_itr->second)); + widget_actor_map_->erase(wam_itr); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +cv::viz::Widget cv::viz::Viz3d::VizImpl::getWidget(const String &id) const +{ + WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id); + bool exists = wam_itr != widget_actor_map_->end(); + CV_Assert("Widget does not exist." && exists); + + Widget widget; + WidgetAccessor::setProp(widget, wam_itr->second); + return widget; +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3d &pose) +{ + WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id); + bool exists = wam_itr != widget_actor_map_->end(); + CV_Assert("Widget does not exist." && exists); + + vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second); + CV_Assert("Widget is not 3D." && actor); + + vtkSmartPointer matrix = vtkmatrix(pose.matrix); + actor->SetUserMatrix(matrix); + actor->Modified(); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3d &pose) +{ + WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id); + bool exists = wam_itr != widget_actor_map_->end(); + CV_Assert("Widget does not exist." && exists); + + vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second); + CV_Assert("Widget is not 3D." && actor); + + vtkSmartPointer matrix = actor->GetUserMatrix(); + if (!matrix) + { + setWidgetPose(id, pose); + return ; + } + Affine3d updated_pose = pose * Affine3d(*matrix->Element); + matrix = vtkmatrix(updated_pose.matrix); + + actor->SetUserMatrix(matrix); + actor->Modified(); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +cv::Affine3d cv::viz::Viz3d::VizImpl::getWidgetPose(const String &id) const +{ + WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id); + bool exists = wam_itr != widget_actor_map_->end(); + CV_Assert("Widget does not exist." && exists); + + vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second); + CV_Assert("Widget is not 3D." && actor); + + return Affine3d(*actor->GetUserMatrix()->Element); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::saveScreenshot(const String &file) { style_->saveScreenshot(file.c_str()); } + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::registerMouseCallback(MouseCallback callback, void* cookie) +{ style_->registerMouseCallback(callback, cookie); } + +void cv::viz::Viz3d::VizImpl::registerKeyboardCallback(KeyboardCallback callback, void* cookie) +{ style_->registerKeyboardCallback(callback, cookie); } + + +////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::removeAllWidgets() +{ + widget_actor_map_->clear(); + renderer_->RemoveAllViewProps(); +} +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::showImage(InputArray image, const Size& window_size) +{ + removeAllWidgets(); + if (window_size.width > 0 && window_size.height > 0) + setWindowSize(window_size); + + showWidget("showImage", WImageOverlay(image, Rect(Point(0,0), getWindowSize()))); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +bool cv::viz::Viz3d::VizImpl::removeActorFromRenderer(vtkSmartPointer actor) +{ + vtkPropCollection* actors = renderer_->GetViewProps(); + actors->InitTraversal(); + vtkProp* current_actor = NULL; + while ((current_actor = actors->GetNextProp()) != NULL) + if (current_actor == actor) + { + renderer_->RemoveActor(actor); + return true; + } + return false; +} + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color, const Color& color2) +{ + Color c = vtkcolor(color), c2 = vtkcolor(color2); + bool gradient = color2[0] >= 0 && color2[1] >= 0 && color2[2] >= 0; + + if (gradient) + { + renderer_->SetBackground(c2.val); + renderer_->SetBackground2(c.val); + renderer_->GradientBackgroundOn(); + } + else + { + renderer_->SetBackground(c.val); + renderer_->GradientBackgroundOff(); + } +} + +void cv::viz::Viz3d::VizImpl::setBackgroundMeshLab() +{ setBackgroundColor(Color(2, 1, 1), Color(240, 120, 120)); } + +////////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::setBackgroundTexture(InputArray image) +{ + if (image.empty()) + { + renderer_->SetBackgroundTexture(0); + renderer_->TexturedBackgroundOff(); + return; + } + + vtkSmartPointer source = vtkSmartPointer::New(); + source->SetImage(image); + + vtkSmartPointer image_flip = vtkSmartPointer::New(); + image_flip->SetFilteredAxis(1); // Vertical flip + image_flip->SetInputConnection(source->GetOutputPort()); + + vtkSmartPointer texture = vtkSmartPointer::New(); + texture->SetInputConnection(image_flip->GetOutputPort()); + //texture->Update(); + + renderer_->SetBackgroundTexture(texture); + renderer_->TexturedBackgroundOn(); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera) +{ + vtkSmartPointer active_camera = renderer_->GetActiveCamera(); + + // Set the intrinsic parameters of the camera + window_->SetSize(camera.getWindowSize().width, camera.getWindowSize().height); + double aspect_ratio = static_cast(camera.getWindowSize().width)/static_cast(camera.getWindowSize().height); + + Matx44d proj_mat; + camera.computeProjectionMatrix(proj_mat); + + // Use the intrinsic parameters of the camera to simulate more realistically + vtkSmartPointer vtk_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0, 1.0); + Matx44d old_proj_mat(*vtk_matrix->Element); + + // This is a hack around not being able to set Projection Matrix + vtkSmartPointer transform = vtkSmartPointer::New(); + transform->SetMatrix(vtkmatrix(proj_mat * old_proj_mat.inv())); + active_camera->SetUserTransform(transform); + + renderer_->ResetCameraClippingRange(); + renderer_->Render(); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const +{ + vtkSmartPointer active_camera = renderer_->GetActiveCamera(); + + Size window_size(renderer_->GetRenderWindow()->GetSize()[0], + renderer_->GetRenderWindow()->GetSize()[1]); + double aspect_ratio = window_size.width / (double)window_size.height; + + vtkSmartPointer proj_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f); + return Camera(Matx44d(*proj_matrix->Element), window_size); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3d &pose) +{ + vtkCamera& camera = *renderer_->GetActiveCamera(); + + // Position = extrinsic translation + cv::Vec3d pos_vec = pose.translation(); + + // Rotate the view vector + cv::Matx33d rotation = pose.rotation(); + cv::Vec3d y_axis(0.0, 1.0, 0.0); + cv::Vec3d up_vec(rotation * y_axis); + + // Compute the new focal point + cv::Vec3d z_axis(0.0, 0.0, 1.0); + cv::Vec3d focal_vec = pos_vec + rotation * z_axis; + + camera.SetPosition(pos_vec.val); + camera.SetFocalPoint(focal_vec.val); + camera.SetViewUp(up_vec.val); + + renderer_->ResetCameraClippingRange(); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose() +{ + vtkCamera& camera = *renderer_->GetActiveCamera(); + + Vec3d pos(camera.GetPosition()); + Vec3d view_up(camera.GetViewUp()); + Vec3d focal(camera.GetFocalPoint()); + + Vec3d y_axis = normalized(view_up); + Vec3d z_axis = normalized(focal - pos); + Vec3d x_axis = normalized(y_axis.cross(z_axis)); + + return makeTransformToGlobal(x_axis, y_axis, z_axis, pos); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) +{ + Vec3d window_pt; + vtkInteractorObserver::ComputeWorldToDisplay(renderer_, pt.x, pt.y, pt.z, window_pt.val); + window_coord = window_pt; +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) +{ + Vec4d world_pt; + vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val); + Vec3d cam_pos(renderer_->GetActiveCamera()->GetPosition()); + origin = cam_pos; + direction = normalize(Vec3d(world_pt.val) - cam_pos); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::resetCameraViewpoint(const String &id) +{ + vtkSmartPointer camera_pose; + static WidgetActorMap::iterator it = widget_actor_map_->find(id); + if (it != widget_actor_map_->end()) + { + vtkProp3D *actor = vtkProp3D::SafeDownCast(it->second); + CV_Assert("Widget is not 3D." && actor); + camera_pose = actor->GetUserMatrix(); + } + else + return; + + // Prevent a segfault + if (!camera_pose) return; + + vtkSmartPointer cam = renderer_->GetActiveCamera(); + cam->SetPosition(camera_pose->GetElement(0, 3), + camera_pose->GetElement(1, 3), + camera_pose->GetElement(2, 3)); + + cam->SetFocalPoint(camera_pose->GetElement(0, 3) - camera_pose->GetElement(0, 2), + camera_pose->GetElement(1, 3) - camera_pose->GetElement(1, 2), + camera_pose->GetElement(2, 3) - camera_pose->GetElement(2, 2)); + + cam->SetViewUp(camera_pose->GetElement(0, 1), + camera_pose->GetElement(1, 1), + camera_pose->GetElement(2, 1)); + + renderer_->SetActiveCamera(cam); + renderer_->ResetCameraClippingRange(); + renderer_->Render(); +} + +/////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::resetCamera() +{ + renderer_->ResetCamera(); +} + +/////////////////////////////////////////////////////////////////////////////////// +void cv::viz::Viz3d::VizImpl::setRepresentation(int representation) +{ + vtkActorCollection * actors = renderer_->GetActors(); + actors->InitTraversal(); + vtkActor * actor; + switch (representation) + { + case REPRESENTATION_POINTS: + { + while ((actor = actors->GetNextActor()) != NULL) + actor->GetProperty()->SetRepresentationToPoints(); + break; + } + case REPRESENTATION_SURFACE: + { + while ((actor = actors->GetNextActor()) != NULL) + actor->GetProperty()->SetRepresentationToSurface(); + break; + } + case REPRESENTATION_WIREFRAME: + { + while ((actor = actors->GetNextActor()) != NULL) + actor->GetProperty()->SetRepresentationToWireframe(); + break; + } + } +} + +////////////////////////////////////////////////////////////////////////////////////////////// +cv::String cv::viz::Viz3d::VizImpl::getWindowName() const { return window_name_; } +void cv::viz::Viz3d::VizImpl::setFullScreen(bool mode) { window_->SetFullScreen(mode); } +void cv::viz::Viz3d::VizImpl::setWindowPosition(const Point& position) { window_position_ = position; window_->SetPosition(position.x, position.y); } +void cv::viz::Viz3d::VizImpl::setWindowSize(const Size& window_size) { window_->SetSize(window_size.width, window_size.height); } +cv::Size cv::viz::Viz3d::VizImpl::getWindowSize() const { return Size(Point(Vec2i(window_->GetSize()))); } diff --git a/modules/viz/src/vizimpl.hpp b/modules/viz/src/vizimpl.hpp new file mode 100644 index 0000000000..9eb918af68 --- /dev/null +++ b/modules/viz/src/vizimpl.hpp @@ -0,0 +1,138 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZ_VIZ3D_IMPL_HPP__ +#define __OPENCV_VIZ_VIZ3D_IMPL_HPP__ + +struct cv::viz::Viz3d::VizImpl +{ +public: + typedef Viz3d::KeyboardCallback KeyboardCallback; + typedef Viz3d::MouseCallback MouseCallback; + + int ref_counter; + + VizImpl(const String &name); + virtual ~VizImpl() {}; + + bool wasStopped() const; + void close(); + + void spin(); + void spinOnce(int time = 1, bool force_redraw = false); + + void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity()); + void removeWidget(const String &id); + Widget getWidget(const String &id) const; + void removeAllWidgets(); + + void showImage(InputArray image, const Size& window_size); + + void setWidgetPose(const String &id, const Affine3d &pose); + void updateWidgetPose(const String &id, const Affine3d &pose); + Affine3d getWidgetPose(const String &id) const; + + void setRepresentation(int representation); + + void setCamera(const Camera &camera); + Camera getCamera() const; + + /** \brief Reset the camera to a given widget */ + void resetCameraViewpoint(const String& id); + void resetCamera(); + + void setViewerPose(const Affine3d &pose); + Affine3d getViewerPose(); + + void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord); + void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction); + + void saveScreenshot(const String &file); + void setWindowPosition(const Point& position); + Size getWindowSize() const; + void setWindowSize(const Size& window_size); + void setFullScreen(bool mode); + String getWindowName() const; + void setBackgroundColor(const Color& color, const Color& color2); + void setBackgroundTexture(InputArray image); + void setBackgroundMeshLab(); + + void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); + void registerMouseCallback(MouseCallback callback, void* cookie = 0); + +private: + struct TimerCallback : public vtkCommand + { + static TimerCallback* New() { return new TimerCallback; } + virtual void Execute(vtkObject* caller, unsigned long event_id, void* cookie); + int timer_id; + }; + + struct ExitCallback : public vtkCommand + { + static ExitCallback* New() { return new ExitCallback; } + virtual void Execute(vtkObject*, unsigned long event_id, void*); + VizImpl* viz; + }; + + mutable bool spin_once_state_; + vtkSmartPointer interactor_; + + vtkSmartPointer window_; + String window_name_; + Vec2i window_position_; + + vtkSmartPointer timer_callback_; + vtkSmartPointer exit_callback_; + + vtkSmartPointer renderer_; + vtkSmartPointer style_; + Ptr widget_actor_map_; + + bool removeActorFromRenderer(vtkSmartPointer actor); + void recreateRenderWindow(); +}; + +#endif diff --git a/modules/viz/src/vtk/vtkCloudMatSink.cpp b/modules/viz/src/vtk/vtkCloudMatSink.cpp new file mode 100644 index 0000000000..09ef0cca99 --- /dev/null +++ b/modules/viz/src/vtk/vtkCloudMatSink.cpp @@ -0,0 +1,158 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +namespace cv { namespace viz +{ + vtkStandardNewMacro(vtkCloudMatSink); +}} + +cv::viz::vtkCloudMatSink::vtkCloudMatSink() {} +cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {} + +void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals, OutputArray _tcoords) +{ + cloud = _cloud; + colors = _colors; + normals = _normals; + tcoords = _tcoords; +} + +void cv::viz::vtkCloudMatSink::WriteData() +{ + vtkPolyData *input = this->GetInput(); + if (!input) + return; + + vtkSmartPointer points_Data = input->GetPoints(); + + if (cloud.needed() && points_Data) + { + int vtktype = points_Data->GetDataType(); + CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE); + + cloud.create(1, points_Data->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3); + Vec3d *ddata = cloud.getMat().ptr(); + Vec3f *fdata = cloud.getMat().ptr(); + + if (cloud.depth() == CV_32F) + for(size_t i = 0; i < cloud.total(); ++i) + *fdata++ = Vec3d(points_Data->GetPoint(i)); + + if (cloud.depth() == CV_64F) + for(size_t i = 0; i < cloud.total(); ++i) + *ddata++ = Vec3d(points_Data->GetPoint(i)); + } + else + cloud.release(); + + vtkSmartPointer scalars_data = input->GetPointData() ? input->GetPointData()->GetScalars() : 0; + + if (colors.needed() && scalars_data) + { + int channels = scalars_data->GetNumberOfComponents(); + int vtktype = scalars_data->GetDataType(); + + CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented"); + CV_Assert(cloud.total() == (size_t)scalars_data->GetNumberOfTuples()); + + Mat buffer(cloud.size(), CV_64FC(channels)); + Vec3d *cptr = buffer.ptr(); + for(size_t i = 0; i < buffer.total(); ++i) + *cptr++ = Vec3d(scalars_data->GetTuple(i)); + + buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ? 255.0 : 1.0); + } + else + colors.release(); + + vtkSmartPointer normals_data = input->GetPointData() ? input->GetPointData()->GetNormals() : 0; + + if (normals.needed() && normals_data) + { + int channels = normals_data->GetNumberOfComponents(); + int vtktype = normals_data->GetDataType(); + + CV_Assert((vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE) && (channels == 3 || channels == 4)); + CV_Assert(cloud.total() == (size_t)normals_data->GetNumberOfTuples()); + + Mat buffer(cloud.size(), CV_64FC(channels)); + Vec3d *cptr = buffer.ptr(); + for(size_t i = 0; i < buffer.total(); ++i) + *cptr++ = Vec3d(normals_data->GetTuple(i)); + + buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F); + } + else + normals.release(); + + vtkSmartPointer coords_data = input->GetPointData() ? input->GetPointData()->GetTCoords() : 0; + + if (tcoords.needed() && coords_data) + { + int vtktype = coords_data->GetDataType(); + + CV_Assert(vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE); + CV_Assert(cloud.total() == (size_t)coords_data->GetNumberOfTuples()); + + Mat buffer(cloud.size(), CV_64FC2); + Vec2d *cptr = buffer.ptr(); + for(size_t i = 0; i < buffer.total(); ++i) + *cptr++ = Vec2d(coords_data->GetTuple(i)); + + buffer.convertTo(tcoords, vtktype == VTK_FLOAT ? CV_32F : CV_64F); + + } + else + tcoords.release(); +} + +void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent) +{ + Superclass::PrintSelf(os, indent); + os << indent << "Cloud: " << cloud.needed() << "\n"; + os << indent << "Colors: " << colors.needed() << "\n"; + os << indent << "Normals: " << normals.needed() << "\n"; +} diff --git a/modules/viz/src/vtk/vtkCloudMatSink.h b/modules/viz/src/vtk/vtkCloudMatSink.h new file mode 100644 index 0000000000..44d7e52a5a --- /dev/null +++ b/modules/viz/src/vtk/vtkCloudMatSink.h @@ -0,0 +1,79 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __vtkCloudMatSink_h +#define __vtkCloudMatSink_h + +#include +#include + +namespace cv +{ + namespace viz + { + class vtkCloudMatSink : public vtkPolyDataWriter + { + public: + static vtkCloudMatSink *New(); + vtkTypeMacro(vtkCloudMatSink,vtkPolyDataWriter) + void PrintSelf(ostream& os, vtkIndent indent); + + void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray(), OutputArray tcoords = noArray()); + + protected: + vtkCloudMatSink(); + ~vtkCloudMatSink(); + + void WriteData(); + + _OutputArray cloud, colors, normals, tcoords; + + private: + vtkCloudMatSink(const vtkCloudMatSink&); // Not implemented. + void operator=(const vtkCloudMatSink&); // Not implemented. + }; + } +} + +#endif diff --git a/modules/viz/src/vtk/vtkCloudMatSource.cpp b/modules/viz/src/vtk/vtkCloudMatSource.cpp new file mode 100644 index 0000000000..74d01bbd01 --- /dev/null +++ b/modules/viz/src/vtk/vtkCloudMatSource.cpp @@ -0,0 +1,286 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +namespace cv { namespace viz +{ + vtkStandardNewMacro(vtkCloudMatSource); + + template struct VtkDepthTraits; + + template<> struct VtkDepthTraits + { + const static int data_type = VTK_FLOAT; + typedef vtkFloatArray array_type; + }; + + template<> struct VtkDepthTraits + { + const static int data_type = VTK_DOUBLE; + typedef vtkDoubleArray array_type; + }; +}} + +cv::viz::vtkCloudMatSource::vtkCloudMatSource() { SetNumberOfInputPorts(0); } +cv::viz::vtkCloudMatSource::~vtkCloudMatSource() {} + +int cv::viz::vtkCloudMatSource::SetCloud(InputArray _cloud) +{ + CV_Assert(_cloud.depth() == CV_32F || _cloud.depth() == CV_64F); + CV_Assert(_cloud.channels() == 3 || _cloud.channels() == 4); + + Mat cloud = _cloud.getMat(); + + int total = _cloud.depth() == CV_32F ? filterNanCopy(cloud) : filterNanCopy(cloud); + + vertices = vtkSmartPointer::New(); + vertices->Allocate(vertices->EstimateSize(1, total)); + vertices->InsertNextCell(total); + for(int i = 0; i < total; ++i) + vertices->InsertCellPoint(i); + + return total; +} + +int cv::viz::vtkCloudMatSource::SetColorCloud(InputArray _cloud, InputArray _colors) +{ + int total = SetCloud(_cloud); + + if (_colors.empty()) + return total; + + CV_Assert(_colors.depth() == CV_8U && _colors.channels() <= 4 && _colors.channels() != 2); + CV_Assert(_colors.size() == _cloud.size()); + + Mat cloud = _cloud.getMat(); + Mat colors = _colors.getMat(); + + if (cloud.depth() == CV_32F) + filterNanColorsCopy(colors, cloud, total); + else if (cloud.depth() == CV_64F) + filterNanColorsCopy(colors, cloud, total); + + return total; +} + +int cv::viz::vtkCloudMatSource::SetColorCloudNormals(InputArray _cloud, InputArray _colors, InputArray _normals) +{ + int total = SetColorCloud(_cloud, _colors); + + if (_normals.empty()) + return total; + + CV_Assert(_normals.depth() == CV_32F || _normals.depth() == CV_64F); + CV_Assert(_normals.channels() == 3 || _normals.channels() == 4); + CV_Assert(_normals.size() == _cloud.size()); + + Mat c = _cloud.getMat(); + Mat n = _normals.getMat(); + + if (n.depth() == CV_32F && c.depth() == CV_32F) + filterNanNormalsCopy(n, c, total); + else if (n.depth() == CV_32F && c.depth() == CV_64F) + filterNanNormalsCopy(n, c, total); + else if (n.depth() == CV_64F && c.depth() == CV_32F) + filterNanNormalsCopy(n, c, total); + else if (n.depth() == CV_64F && c.depth() == CV_64F) + filterNanNormalsCopy(n, c, total); + else + CV_Assert(!"Unsupported normals/cloud type"); + + return total; +} + +int cv::viz::vtkCloudMatSource::SetColorCloudNormalsTCoords(InputArray _cloud, InputArray _colors, InputArray _normals, InputArray _tcoords) +{ + int total = SetColorCloudNormals(_cloud, _colors, _normals); + + if (_tcoords.empty()) + return total; + + CV_Assert(_tcoords.depth() == CV_32F || _tcoords.depth() == CV_64F); + CV_Assert(_tcoords.channels() == 2 && _tcoords.size() == _cloud.size()); + + Mat cl = _cloud.getMat(); + Mat tc = _tcoords.getMat(); + + if (tc.depth() == CV_32F && cl.depth() == CV_32F) + filterNanTCoordsCopy(tc, cl, total); + else if (tc.depth() == CV_32F && cl.depth() == CV_64F) + filterNanTCoordsCopy(tc, cl, total); + else if (tc.depth() == CV_64F && cl.depth() == CV_32F) + filterNanTCoordsCopy(tc, cl, total); + else if (tc.depth() == CV_64F && cl.depth() == CV_64F) + filterNanTCoordsCopy(tc, cl, total); + else + CV_Assert(!"Unsupported tcoords/cloud type"); + + return total; +} + +int cv::viz::vtkCloudMatSource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector) +{ + vtkInformation *outInfo = outputVector->GetInformationObject(0); + vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT())); + + output->SetPoints(points); + output->SetVerts(vertices); + if (scalars) + output->GetPointData()->SetScalars(scalars); + + if (normals) + output->GetPointData()->SetNormals(normals); + + if (tcoords) + output->GetPointData()->SetTCoords(tcoords); + + return 1; +} + +template +int cv::viz::vtkCloudMatSource::filterNanCopy(const Mat& cloud) +{ + CV_DbgAssert(DataType<_Tp>::depth == cloud.depth()); + points = vtkSmartPointer::New(); + points->SetDataType(VtkDepthTraits<_Tp>::data_type); + points->Allocate(cloud.total()); + points->SetNumberOfPoints(cloud.total()); + + int s_chs = cloud.channels(); + int total = 0; + for (int y = 0; y < cloud.rows; ++y) + { + const _Tp* srow = cloud.ptr<_Tp>(y); + const _Tp* send = srow + cloud.cols * s_chs; + + for (; srow != send; srow += s_chs) + if (!isNan(srow)) + points->SetPoint(total++, srow); + } + points->SetNumberOfPoints(total); + points->Squeeze(); + return total; +} + +template +void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total) +{ + Vec3b* array = new Vec3b[total]; + Vec3b* pos = array; + + int s_chs = cloud_colors.channels(); + int m_chs = mask.channels(); + for (int y = 0; y < cloud_colors.rows; ++y) + { + const unsigned char* srow = cloud_colors.ptr(y); + const unsigned char* send = srow + cloud_colors.cols * s_chs; + const _Msk* mrow = mask.ptr<_Msk>(y); + + if (cloud_colors.channels() == 1) + { + for (; srow != send; srow += s_chs, mrow += m_chs) + if (!isNan(mrow)) + *pos++ = Vec3b(srow[0], srow[0], srow[0]); + } + else + for (; srow != send; srow += s_chs, mrow += m_chs) + if (!isNan(mrow)) + *pos++ = Vec3b(srow[2], srow[1], srow[0]); + + } + + scalars = vtkSmartPointer::New(); + scalars->SetName("Colors"); + scalars->SetNumberOfComponents(3); + scalars->SetNumberOfTuples(total); + scalars->SetArray(array->val, total * 3, 0); +} + +template +void cv::viz::vtkCloudMatSource::filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total) +{ + normals = vtkSmartPointer< typename VtkDepthTraits<_Tn>::array_type >::New(); + normals->SetName("Normals"); + normals->SetNumberOfComponents(3); + normals->SetNumberOfTuples(total); + + int s_chs = cloud_normals.channels(); + int m_chs = mask.channels(); + + int pos = 0; + for (int y = 0; y < cloud_normals.rows; ++y) + { + const _Tn* srow = cloud_normals.ptr<_Tn>(y); + const _Tn* send = srow + cloud_normals.cols * s_chs; + + const _Msk* mrow = mask.ptr<_Msk>(y); + + for (; srow != send; srow += s_chs, mrow += m_chs) + if (!isNan(mrow)) + normals->SetTuple(pos++, srow); + } +} + +template +void cv::viz::vtkCloudMatSource::filterNanTCoordsCopy(const Mat& _tcoords, const Mat& mask, int total) +{ + typedef Vec<_Tn, 2> Vec2; + tcoords = vtkSmartPointer< typename VtkDepthTraits<_Tn>::array_type >::New(); + tcoords->SetName("TextureCoordinates"); + tcoords->SetNumberOfComponents(2); + tcoords->SetNumberOfTuples(total); + + int pos = 0; + for (int y = 0; y < mask.rows; ++y) + { + const Vec2* srow = _tcoords.ptr(y); + const Vec2* send = srow + _tcoords.cols; + const _Msk* mrow = mask.ptr<_Msk>(y); + + for (; srow != send; ++srow, mrow += mask.channels()) + if (!isNan(mrow)) + tcoords->SetTuple(pos++, srow->val); + } +} diff --git a/modules/viz/src/vtk/vtkCloudMatSource.h b/modules/viz/src/vtk/vtkCloudMatSource.h new file mode 100644 index 0000000000..4097f9cc87 --- /dev/null +++ b/modules/viz/src/vtk/vtkCloudMatSource.h @@ -0,0 +1,96 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __vtkCloudMatSource_h +#define __vtkCloudMatSource_h + +#include +#include +#include +#include +#include + +namespace cv +{ + namespace viz + { + class vtkCloudMatSource : public vtkPolyDataAlgorithm + { + public: + static vtkCloudMatSource *New(); + vtkTypeMacro(vtkCloudMatSource,vtkPolyDataAlgorithm) + + virtual int SetCloud(InputArray cloud); + virtual int SetColorCloud(InputArray cloud, InputArray colors); + virtual int SetColorCloudNormals(InputArray cloud, InputArray colors, InputArray normals); + virtual int SetColorCloudNormalsTCoords(InputArray cloud, InputArray colors, InputArray normals, InputArray tcoords); + + protected: + vtkCloudMatSource(); + ~vtkCloudMatSource(); + + int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *); + + vtkSmartPointer points; + vtkSmartPointer vertices; + vtkSmartPointer scalars; + vtkSmartPointer normals; + vtkSmartPointer tcoords; + private: + vtkCloudMatSource(const vtkCloudMatSource&); // Not implemented. + void operator=(const vtkCloudMatSource&); // Not implemented. + + template int filterNanCopy(const Mat& cloud); + template void filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total); + + template + void filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total); + + template + void filterNanTCoordsCopy(const Mat& tcoords, const Mat& mask, int total); + }; + } +} + +#endif diff --git a/modules/viz/src/vtk/vtkImageMatSource.cpp b/modules/viz/src/vtk/vtkImageMatSource.cpp new file mode 100644 index 0000000000..58a5642d46 --- /dev/null +++ b/modules/viz/src/vtk/vtkImageMatSource.cpp @@ -0,0 +1,143 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +namespace cv { namespace viz +{ + vtkStandardNewMacro(vtkImageMatSource); +}} + +cv::viz::vtkImageMatSource::vtkImageMatSource() +{ + this->SetNumberOfInputPorts(0); + this->ImageData = vtkImageData::New(); +} + +int cv::viz::vtkImageMatSource::RequestInformation(vtkInformation *, vtkInformationVector**, vtkInformationVector *outputVector) +{ + vtkInformation* outInfo = outputVector->GetInformationObject(0); + + outInfo->Set(vtkStreamingDemandDrivenPipeline::WHOLE_EXTENT(), this->ImageData->GetExtent(), 6); + outInfo->Set(vtkDataObject::SPACING(), 1.0, 1.0, 1.0); + outInfo->Set(vtkDataObject::ORIGIN(), 0.0, 0.0, 0.0); + + vtkDataObject::SetPointDataActiveScalarInfo(outInfo, this->ImageData->GetScalarType(), this->ImageData->GetNumberOfScalarComponents()); + return 1; +} + +int cv::viz::vtkImageMatSource::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector *outputVector) +{ + vtkInformation *outInfo = outputVector->GetInformationObject(0); + + vtkImageData *output = vtkImageData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()) ); + output->ShallowCopy(this->ImageData); + return 1; +} + +void cv::viz::vtkImageMatSource::SetImage(InputArray _image) +{ + CV_Assert(_image.depth() == CV_8U && (_image.channels() == 1 || _image.channels() == 3 || _image.channels() == 4)); + + Mat image = _image.getMat(); + + this->ImageData->SetDimensions(image.cols, image.rows, 1); +#if VTK_MAJOR_VERSION <= 5 + this->ImageData->SetNumberOfScalarComponents(image.channels()); + this->ImageData->SetScalarTypeToUnsignedChar(); + this->ImageData->AllocateScalars(); +#else + this->ImageData->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels()); +#endif + + switch(image.channels()) + { + case 1: copyGrayImage(image, this->ImageData); break; + case 3: copyRGBImage (image, this->ImageData); break; + case 4: copyRGBAImage(image, this->ImageData); break; + } + this->ImageData->Modified(); +} + +void cv::viz::vtkImageMatSource::copyGrayImage(const Mat &source, vtkSmartPointer output) +{ + unsigned char* dptr = reinterpret_cast(output->GetScalarPointer()); + size_t elem_step = output->GetIncrements()[1]/sizeof(unsigned char); + + for (int y = 0; y < source.rows; ++y) + { + unsigned char* drow = dptr + elem_step * y; + const unsigned char *srow = source.ptr(y); + for (int x = 0; x < source.cols; ++x) + drow[x] = *srow++; + } +} + +void cv::viz::vtkImageMatSource::copyRGBImage(const Mat &source, vtkSmartPointer output) +{ + Vec3b* dptr = reinterpret_cast(output->GetScalarPointer()); + size_t elem_step = output->GetIncrements()[1]/sizeof(Vec3b); + + for (int y = 0; y < source.rows; ++y) + { + Vec3b* drow = dptr + elem_step * y; + const unsigned char *srow = source.ptr(y); + for (int x = 0; x < source.cols; ++x, srow += source.channels()) + drow[x] = Vec3b(srow[2], srow[1], srow[0]); + } +} + +void cv::viz::vtkImageMatSource::copyRGBAImage(const Mat &source, vtkSmartPointer output) +{ + Vec4b* dptr = reinterpret_cast(output->GetScalarPointer()); + size_t elem_step = output->GetIncrements()[1]/sizeof(Vec4b); + + for (int y = 0; y < source.rows; ++y) + { + Vec4b* drow = dptr + elem_step * y; + const unsigned char *srow = source.ptr(y); + for (int x = 0; x < source.cols; ++x, srow += source.channels()) + drow[x] = Vec4b(srow[2], srow[1], srow[0], srow[3]); + } +} diff --git a/modules/viz/src/vtk/vtkImageMatSource.h b/modules/viz/src/vtk/vtkImageMatSource.h new file mode 100644 index 0000000000..db0c093ed8 --- /dev/null +++ b/modules/viz/src/vtk/vtkImageMatSource.h @@ -0,0 +1,82 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +#ifndef __vtkImageMatSource_h +#define __vtkImageMatSource_h + +namespace cv +{ + namespace viz + { + class vtkImageMatSource : public vtkImageAlgorithm + { + public: + static vtkImageMatSource *New(); + vtkTypeMacro(vtkImageMatSource,vtkImageAlgorithm); + + void SetImage(InputArray image); + + protected: + vtkImageMatSource(); + ~vtkImageMatSource() {} + + vtkSmartPointer ImageData; + + int RequestInformation(vtkInformation*, vtkInformationVector**, vtkInformationVector*); + int RequestData (vtkInformation*, vtkInformationVector**, vtkInformationVector*); + private: + vtkImageMatSource(const vtkImageMatSource&); // Not implemented. + void operator=(const vtkImageMatSource&); // Not implemented. + + static void copyGrayImage(const Mat &source, vtkSmartPointer output); + static void copyRGBImage (const Mat &source, vtkSmartPointer output); + static void copyRGBAImage(const Mat &source, vtkSmartPointer output); + }; + } +} + + +#endif diff --git a/modules/viz/src/vtk/vtkOBJWriter.cpp b/modules/viz/src/vtk/vtkOBJWriter.cpp new file mode 100644 index 0000000000..452ad19a7a --- /dev/null +++ b/modules/viz/src/vtk/vtkOBJWriter.cpp @@ -0,0 +1,241 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +namespace cv { namespace viz +{ + vtkStandardNewMacro(vtkOBJWriter); +}} + +cv::viz::vtkOBJWriter::vtkOBJWriter() +{ + std::ofstream fout; // only used to extract the default precision + this->DecimalPrecision = fout.precision(); + this->FileName = NULL; + this->FileType = VTK_ASCII; +} + +cv::viz::vtkOBJWriter::~vtkOBJWriter(){} + +void cv::viz::vtkOBJWriter::WriteData() +{ + vtkPolyData *input = this->GetInput(); + if (!input) + return; + + std::ostream *outfilep = this->OpenVTKFile(); + if (!outfilep) + return; + + std::ostream& outfile = *outfilep; + + //write header + outfile << "# wavefront obj file written by the visualization toolkit" << std::endl << std::endl; + outfile << "mtllib NONE" << std::endl << std::endl; + + // write out the points + for (int i = 0; i < input->GetNumberOfPoints(); i++) + { + Vec3d p; + input->GetPoint(i, p.val); + outfile << std::setprecision(this->DecimalPrecision) << "v " << p[0] << " " << p[1] << " " << p[2] << std::endl; + } + + const int idStart = 1; + + // write out the point data + vtkSmartPointer normals = input->GetPointData()->GetNormals(); + if(normals) + { + for (int i = 0; i < normals->GetNumberOfTuples(); i++) + { + Vec3d p; + normals->GetTuple(i, p.val); + outfile << std::setprecision(this->DecimalPrecision) << "vn " << p[0] << " " << p[1] << " " << p[2] << std::endl; + } + } + + vtkSmartPointer tcoords = input->GetPointData()->GetTCoords(); + if (tcoords) + { + for (int i = 0; i < tcoords->GetNumberOfTuples(); i++) + { + Vec2d p; + tcoords->GetTuple(i, p.val); + outfile << std::setprecision(this->DecimalPrecision) << "vt " << p[0] << " " << p[1] << std::endl; + } + } + + // write out a group name and material + outfile << std::endl << "g grp" << idStart << std::endl; + outfile << "usemtl mtlNONE" << std::endl; + + // write out verts if any + if (input->GetNumberOfVerts() > 0) + { + vtkIdType npts = 0, *index = 0; + vtkCellArray *cells = input->GetVerts(); + for (cells->InitTraversal(); cells->GetNextCell(npts, index); ) + { + outfile << "p "; + for (int i = 0; i < npts; i++) + outfile << index[i] + idStart << " "; + outfile << std::endl; + } + } + + // write out lines if any + if (input->GetNumberOfLines() > 0) + { + vtkIdType npts = 0, *index = 0; + vtkCellArray *cells = input->GetLines(); + for (cells->InitTraversal(); cells->GetNextCell(npts, index); ) + { + outfile << "l "; + if (tcoords) + { + for (int i = 0; i < npts; i++) + outfile << index[i] + idStart << "/" << index[i] + idStart << " "; + } + else + for (int i = 0; i < npts; i++) + outfile << index[i] + idStart << " "; + + outfile << std::endl; + } + } + + // write out polys if any + if (input->GetNumberOfPolys() > 0) + { + vtkIdType npts = 0, *index = 0; + vtkCellArray *cells = input->GetPolys(); + for (cells->InitTraversal(); cells->GetNextCell(npts, index); ) + { + outfile << "f "; + for (int i = 0; i < npts; i++) + { + if (normals) + { + if (tcoords) + outfile << index[i] + idStart << "/" << index[i] + idStart << "/" << index[i] + idStart << " "; + else + outfile << index[i] + idStart << "//" << index[i] + idStart << " "; + } + else + { + if (tcoords) + outfile << index[i] + idStart << " " << index[i] + idStart << " "; + else + outfile << index[i] + idStart << " "; + } + } + outfile << std::endl; + } + } + + // write out tstrips if any + if (input->GetNumberOfStrips() > 0) + { + vtkIdType npts = 0, *index = 0; + vtkCellArray *cells = input->GetStrips(); + for (cells->InitTraversal(); cells->GetNextCell(npts, index); ) + { + for (int i = 2, i1, i2; i < npts; ++i) + { + if (i % 2) + { + i1 = i - 1; + i2 = i - 2; + } + else + { + i1 = i - 1; + i2 = i - 2; + } + + if(normals) + { + if (tcoords) + { + outfile << "f " << index[i1] + idStart << "/" << index[i1] + idStart << "/" << index[i1] + idStart << " " + << index[i2]+ idStart << "/" << index[i2] + idStart << "/" << index[i2] + idStart << " " + << index[i] + idStart << "/" << index[i] + idStart << "/" << index[i] + idStart << std::endl; + } + else + { + outfile << "f " << index[i1] + idStart << "//" << index[i1] + idStart << " " << index[i2] + idStart + << "//" << index[i2] + idStart << " " << index[i] + idStart << "//" << index[i] + idStart << std::endl; + } + } + else + { + if (tcoords) + { + outfile << "f " << index[i1] + idStart << "/" << index[i1] + idStart << " " << index[i2] + idStart + << "/" << index[i2] + idStart << " " << index[i] + idStart << "/" << index[i] + idStart << std::endl; + } + else + outfile << "f " << index[i1] + idStart << " " << index[i2] + idStart << " " << index[i] + idStart << std::endl; + } + } /* for (int i = 2; i < npts; ++i) */ + } + } /* if (input->GetNumberOfStrips() > 0) */ + + this->CloseVTKFile(outfilep); + + // Delete the file if an error occurred + if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError) + { + vtkErrorMacro("Ran out of disk space; deleting file: " << this->FileName); + unlink(this->FileName); + } +} + +void cv::viz::vtkOBJWriter::PrintSelf(ostream& os, vtkIndent indent) +{ + Superclass::PrintSelf(os, indent); + os << indent << "DecimalPrecision: " << DecimalPrecision << "\n"; +} diff --git a/modules/viz/src/vtk/vtkOBJWriter.h b/modules/viz/src/vtk/vtkOBJWriter.h new file mode 100644 index 0000000000..f8889884d7 --- /dev/null +++ b/modules/viz/src/vtk/vtkOBJWriter.h @@ -0,0 +1,79 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __vtkOBJWriter_h +#define __vtkOBJWriter_h + +#include + +namespace cv +{ + namespace viz + { + class vtkOBJWriter : public vtkPolyDataWriter + { + public: + static vtkOBJWriter *New(); + vtkTypeMacro(vtkOBJWriter,vtkPolyDataWriter) + void PrintSelf(ostream& os, vtkIndent indent); + + vtkGetMacro(DecimalPrecision, int); + vtkSetMacro(DecimalPrecision, int); + + protected: + vtkOBJWriter(); + ~vtkOBJWriter(); + + void WriteData(); + + int DecimalPrecision; + + private: + vtkOBJWriter(const vtkOBJWriter&); // Not implemented. + void operator=(const vtkOBJWriter&); // Not implemented. + }; + } +} + +#endif diff --git a/modules/viz/src/vtk/vtkTrajectorySource.cpp b/modules/viz/src/vtk/vtkTrajectorySource.cpp new file mode 100644 index 0000000000..e098a1d553 --- /dev/null +++ b/modules/viz/src/vtk/vtkTrajectorySource.cpp @@ -0,0 +1,110 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +namespace cv { namespace viz +{ + vtkStandardNewMacro(vtkTrajectorySource); +}} + +cv::viz::vtkTrajectorySource::vtkTrajectorySource() { SetNumberOfInputPorts(0); } +cv::viz::vtkTrajectorySource::~vtkTrajectorySource() {} + +void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj) +{ + CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT); + CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16)); + + Mat traj; + _traj.getMat().convertTo(traj, CV_64F); + const Affine3d* dpath = traj.ptr(); + size_t total = traj.total(); + + points = vtkSmartPointer::New(); + points->SetDataType(VTK_DOUBLE); + points->SetNumberOfPoints(total); + + tensors = vtkSmartPointer::New(); + tensors->SetNumberOfComponents(9); + tensors->SetNumberOfTuples(total); + + for(size_t i = 0; i < total; ++i, ++dpath) + { + Matx33d R = dpath->rotation().t(); // transposed because of + tensors->SetTuple(i, R.val); // column major order + + Vec3d p = dpath->translation(); + points->SetPoint(i, p.val); + } +} + +cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj) +{ + CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT); + CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16)); + + Mat points(1, _traj.total(), CV_MAKETYPE(_traj.depth(), 3)); + const Affine3d* dpath = _traj.getMat().ptr(); + const Affine3f* fpath = _traj.getMat().ptr(); + + if (_traj.depth() == CV_32F) + for(int i = 0; i < points.cols; ++i) + points.at(i) = fpath[i].translation(); + + if (_traj.depth() == CV_64F) + for(int i = 0; i < points.cols; ++i) + points.at(i) = dpath[i].translation(); + + return points; +} + +int cv::viz::vtkTrajectorySource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector) +{ + vtkInformation *outInfo = outputVector->GetInformationObject(0); + vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT())); + output->SetPoints(points); + output->GetPointData()->SetTensors(tensors); + return 1; +} diff --git a/modules/viz/src/vtk/vtkTrajectorySource.h b/modules/viz/src/vtk/vtkTrajectorySource.h new file mode 100644 index 0000000000..f6c9c77b9c --- /dev/null +++ b/modules/viz/src/vtk/vtkTrajectorySource.h @@ -0,0 +1,84 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __vtkTrajectorySource_h +#define __vtkTrajectorySource_h + +#include +#include +#include +#include +#include + +namespace cv +{ + namespace viz + { + class vtkTrajectorySource : public vtkPolyDataAlgorithm + { + public: + static vtkTrajectorySource *New(); + vtkTypeMacro(vtkTrajectorySource,vtkPolyDataAlgorithm) + + virtual void SetTrajectory(InputArray trajectory); + + static Mat ExtractPoints(InputArray trajectory); + + protected: + vtkTrajectorySource(); + ~vtkTrajectorySource(); + + vtkSmartPointer points; + vtkSmartPointer tensors; + + int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *); + private: + vtkTrajectorySource(const vtkTrajectorySource&); // Not implemented. + void operator=(const vtkTrajectorySource&); // Not implemented. + + }; + } +} + +#endif diff --git a/modules/viz/src/vtk/vtkXYZWriter.cpp b/modules/viz/src/vtk/vtkXYZWriter.cpp new file mode 100644 index 0000000000..4518a0103a --- /dev/null +++ b/modules/viz/src/vtk/vtkXYZWriter.cpp @@ -0,0 +1,93 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +namespace cv { namespace viz +{ + vtkStandardNewMacro(vtkXYZWriter); +}} + +cv::viz::vtkXYZWriter::vtkXYZWriter() +{ + std::ofstream fout; // only used to extract the default precision + this->DecimalPrecision = fout.precision(); +} + +void cv::viz::vtkXYZWriter::WriteData() +{ + vtkPolyData *input = this->GetInput(); + if (!input) + return; + + // OpenVTKFile() will report any errors that happen + ostream *outfilep = this->OpenVTKFile(); + if (!outfilep) + return; + + ostream &outfile = *outfilep; + + for(vtkIdType i = 0; i < input->GetNumberOfPoints(); ++i) + { + Vec3d p; + input->GetPoint(i, p.val); + outfile << std::setprecision(this->DecimalPrecision) << p[0] << " " << p[1] << " " << p[2] << std::endl; + } + + // Close the file + this->CloseVTKFile(outfilep); + + // Delete the file if an error occurred + if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError) + { + vtkErrorMacro("Ran out of disk space; deleting file: " << this->FileName); + unlink(this->FileName); + } +} + +void cv::viz::vtkXYZWriter::PrintSelf(ostream& os, vtkIndent indent) +{ + this->Superclass::PrintSelf(os,indent); + os << indent << "DecimalPrecision: " << this->DecimalPrecision << "\n"; +} diff --git a/modules/viz/src/vtk/vtkXYZWriter.h b/modules/viz/src/vtk/vtkXYZWriter.h new file mode 100644 index 0000000000..3db18b793b --- /dev/null +++ b/modules/viz/src/vtk/vtkXYZWriter.h @@ -0,0 +1,78 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __vtkXYZWriter_h +#define __vtkXYZWriter_h + +#include "vtkPolyDataWriter.h" + +namespace cv +{ + namespace viz + { + class vtkXYZWriter : public vtkPolyDataWriter + { + public: + static vtkXYZWriter *New(); + vtkTypeMacro(vtkXYZWriter,vtkPolyDataWriter) + void PrintSelf(ostream& os, vtkIndent indent); + + vtkGetMacro(DecimalPrecision, int) + vtkSetMacro(DecimalPrecision, int) + + protected: + vtkXYZWriter(); + ~vtkXYZWriter(){} + + void WriteData(); + + int DecimalPrecision; + + private: + vtkXYZWriter(const vtkXYZWriter&); // Not implemented. + void operator=(const vtkXYZWriter&); // Not implemented. + }; + } +} +#endif diff --git a/modules/viz/src/widget.cpp b/modules/viz/src/widget.cpp new file mode 100644 index 0000000000..33b467ebc7 --- /dev/null +++ b/modules/viz/src/widget.cpp @@ -0,0 +1,327 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#include "precomp.hpp" + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// widget implementation + +class cv::viz::Widget::Impl +{ +public: + vtkSmartPointer prop; + Impl() : prop(0) {} +}; + +cv::viz::Widget::Widget() : impl_( new Impl() ) { } + +cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() ) +{ + if (other.impl_ && other.impl_->prop) + impl_->prop = other.impl_->prop; +} + +cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other) +{ + if (!impl_) + impl_ = new Impl(); + + if (other.impl_) + impl_->prop = other.impl_->prop; + return *this; +} + +cv::viz::Widget::~Widget() +{ + if (impl_) + { + delete impl_; + impl_ = 0; + } +} + +cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name) +{ + CV_Assert(vtkPLYReader::CanReadFile(file_name.c_str())); + + vtkSmartPointer reader = vtkSmartPointer::New(); + reader->SetFileName(file_name.c_str()); + + vtkSmartPointer mapper = vtkSmartPointer::New(); + mapper->SetInputConnection( reader->GetOutputPort() ); + mapper->ImmediateModeRenderingOff(); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->GetProperty()->SetInterpolationToFlat(); + actor->GetProperty()->BackfaceCullingOn(); + actor->SetMapper(mapper); + + Widget widget; + WidgetAccessor::setProp(widget, actor); + return widget; +} + +void cv::viz::Widget::setRenderingProperty(int property, double value) +{ + vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget type is not supported." && actor); + + switch (property) + { + case POINT_SIZE: actor->GetProperty()->SetPointSize(float(value)); break; + case OPACITY: actor->GetProperty()->SetOpacity(value); break; + case LINE_WIDTH: actor->GetProperty()->SetLineWidth(float(value)); break; + case IMMEDIATE_RENDERING: actor->GetMapper()->SetImmediateModeRendering(int(value)); break; + case FONT_SIZE: + { + vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor); + CV_Assert("Widget does not have text content." && text_actor); + text_actor->GetTextProperty()->SetFontSize(int(value)); + break; + } + case REPRESENTATION: + { + switch (int(value)) + { + case REPRESENTATION_POINTS: actor->GetProperty()->SetRepresentationToPoints(); break; + case REPRESENTATION_WIREFRAME: actor->GetProperty()->SetRepresentationToWireframe(); break; + case REPRESENTATION_SURFACE: actor->GetProperty()->SetRepresentationToSurface(); break; + } + break; + } + case SHADING: + { + switch (int(value)) + { + case SHADING_FLAT: actor->GetProperty()->SetInterpolationToFlat(); break; + case SHADING_GOURAUD: + { + if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals()) + { + vtkSmartPointer mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper()); + CV_Assert("Can't set shading property for such type of widget" && mapper); + + vtkSmartPointer with_normals = VtkUtils::ComputeNormals(mapper->GetInput()); + VtkUtils::SetInputData(mapper, with_normals); + } + actor->GetProperty()->SetInterpolationToGouraud(); + break; + } + case SHADING_PHONG: + { + if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals()) + { + vtkSmartPointer mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper()); + CV_Assert("Can't set shading property for such type of widget" && mapper); + + vtkSmartPointer with_normals = VtkUtils::ComputeNormals(mapper->GetInput()); + VtkUtils::SetInputData(mapper, with_normals); + } + actor->GetProperty()->SetInterpolationToPhong(); + break; + } + } + break; + } + default: + CV_Assert("setPointCloudRenderingProperties: Unknown property"); + } + actor->Modified(); +} + +double cv::viz::Widget::getRenderingProperty(int property) const +{ + vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget type is not supported." && actor); + + double value = 0.0; + switch (property) + { + case POINT_SIZE: value = actor->GetProperty()->GetPointSize(); break; + case OPACITY: value = actor->GetProperty()->GetOpacity(); break; + case LINE_WIDTH: value = actor->GetProperty()->GetLineWidth(); break; + case IMMEDIATE_RENDERING: value = actor->GetMapper()->GetImmediateModeRendering(); break; + + case FONT_SIZE: + { + vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor); + CV_Assert("Widget does not have text content." && text_actor); + value = text_actor->GetTextProperty()->GetFontSize();; + break; + } + case REPRESENTATION: + { + switch (actor->GetProperty()->GetRepresentation()) + { + case VTK_POINTS: value = REPRESENTATION_POINTS; break; + case VTK_WIREFRAME: value = REPRESENTATION_WIREFRAME; break; + case VTK_SURFACE: value = REPRESENTATION_SURFACE; break; + } + break; + } + case SHADING: + { + switch (actor->GetProperty()->GetInterpolation()) + { + case VTK_FLAT: value = SHADING_FLAT; break; + case VTK_GOURAUD: value = SHADING_GOURAUD; break; + case VTK_PHONG: value = SHADING_PHONG; break; + } + break; + } + default: + CV_Assert("getPointCloudRenderingProperties: Unknown property"); + } + return value; +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// widget accessor implementaion + +vtkSmartPointer cv::viz::WidgetAccessor::getProp(const Widget& widget) +{ + return widget.impl_->prop; +} + +void cv::viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer prop) +{ + widget.impl_->prop = prop; +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// widget3D implementation + +void cv::viz::Widget3D::setPose(const Affine3d &pose) +{ + vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget is not 3D." && actor); + + vtkSmartPointer matrix = vtkmatrix(pose.matrix); + actor->SetUserMatrix(matrix); + actor->Modified(); +} + +void cv::viz::Widget3D::updatePose(const Affine3d &pose) +{ + vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget is not 3D." && actor); + + vtkSmartPointer matrix = actor->GetUserMatrix(); + if (!matrix) + { + setPose(pose); + return; + } + + Affine3d updated_pose = pose * Affine3d(*matrix->Element); + matrix = vtkmatrix(updated_pose.matrix); + + actor->SetUserMatrix(matrix); + actor->Modified(); +} + +cv::Affine3d cv::viz::Widget3D::getPose() const +{ + vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget is not 3D." && actor); + return Affine3d(*actor->GetUserMatrix()->Element); +} + +void cv::viz::Widget3D::applyTransform(const Affine3d &transform) +{ + vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget is not 3D actor." && actor); + + vtkSmartPointer mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper()); + CV_Assert("Widget doesn't have a polydata mapper" && mapper); + mapper->Update(); + + VtkUtils::SetInputData(mapper, VtkUtils::TransformPolydata(mapper->GetInput(), transform)); +} + +void cv::viz::Widget3D::setColor(const Color &color) +{ + // Cast to actor instead of prop3d since prop3d doesn't provide getproperty + vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget type is not supported." && actor); + + Color c = vtkcolor(color); + actor->GetMapper()->ScalarVisibilityOff(); + actor->GetProperty()->SetColor(c.val); + actor->GetProperty()->SetEdgeColor(c.val); + actor->Modified(); +} + +template<> cv::viz::Widget3D cv::viz::Widget::cast() +{ + vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget cannot be cast." && actor); + + Widget3D widget; + WidgetAccessor::setProp(widget, actor); + return widget; +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// widget2D implementation + +void cv::viz::Widget2D::setColor(const Color &color) +{ + vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget type is not supported." && actor); + Color c = vtkcolor(color); + actor->GetProperty()->SetColor(c.val); + actor->Modified(); +} + +template<> cv::viz::Widget2D cv::viz::Widget::cast() +{ + vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this)); + CV_Assert("Widget cannot be cast." && actor); + + Widget2D widget; + WidgetAccessor::setProp(widget, actor); + return widget; +} diff --git a/modules/viz/test/test_main.cpp b/modules/viz/test/test_main.cpp new file mode 100644 index 0000000000..e737d2db31 --- /dev/null +++ b/modules/viz/test/test_main.cpp @@ -0,0 +1,3 @@ +#include "test_precomp.hpp" + +CV_TEST_MAIN("viz") diff --git a/modules/viz/test/test_precomp.cpp b/modules/viz/test/test_precomp.cpp new file mode 100644 index 0000000000..c2673fee69 --- /dev/null +++ b/modules/viz/test/test_precomp.cpp @@ -0,0 +1,24 @@ +#include "test_precomp.hpp" + +cv::String cv::Path::combine(const String& item1, const String& item2) +{ + if (item1.empty()) + return item2; + + if (item2.empty()) + return item1; + + char last = item1[item1.size()-1]; + + bool need_append = last != '/' && last != '\\'; + return item1 + (need_append ? "/" : "") + item2; +} + +cv::String cv::Path::combine(const String& item1, const String& item2, const String& item3) +{ return combine(combine(item1, item2), item3); } + +cv::String cv::Path::change_extension(const String& file, const String& ext) +{ + String::size_type pos = file.find_last_of('.'); + return pos == String::npos ? file : file.substr(0, pos+1) + ext; +} diff --git a/modules/viz/test/test_precomp.hpp b/modules/viz/test/test_precomp.hpp new file mode 100644 index 0000000000..cd00b6e73b --- /dev/null +++ b/modules/viz/test/test_precomp.hpp @@ -0,0 +1,104 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifdef __GNUC__ +# pragma GCC diagnostic ignored "-Wmissing-declarations" +# if defined __clang__ || defined __APPLE__ +# pragma GCC diagnostic ignored "-Wmissing-prototypes" +# pragma GCC diagnostic ignored "-Wextra" +# endif +#endif + +#ifndef __OPENCV_TEST_PRECOMP_HPP__ +#define __OPENCV_TEST_PRECOMP_HPP__ + +#include "opencv2/ts/ts.hpp" +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace cv +{ + struct Path + { + static String combine(const String& item1, const String& item2); + static String combine(const String& item1, const String& item2, const String& item3); + static String change_extension(const String& file, const String& ext); + }; + + inline cv::String get_dragon_ply_file_path() + { + return Path::combine(cvtest::TS::ptr()->get_data_path(), "dragon.ply"); + } + + template + inline std::vector< Affine3<_Tp> > generate_test_trajectory() + { + std::vector< Affine3<_Tp> > result; + + for (int i = 0, j = 0; i <= 270; i += 3, j += 10) + { + double x = 2 * cos(i * 3 * CV_PI/180.0) * (1.0 + 0.5 * cos(1.2 + i * 1.2 * CV_PI/180.0)); + double y = 0.25 + i/270.0 + sin(j * CV_PI/180.0) * 0.2 * sin(0.6 + j * 1.5 * CV_PI/180.0); + double z = 2 * sin(i * 3 * CV_PI/180.0) * (1.0 + 0.5 * cos(1.2 + i * CV_PI/180.0)); + result.push_back(viz::makeCameraPose(Vec3d(x, y, z), Vec3d::all(0.0), Vec3d(0.0, 1.0, 0.0))); + } + return result; + } + + inline Mat make_gray(const Mat& image) + { + Mat chs[3]; split(image, chs); + return 0.114 * chs[0] + 0.58 * chs[1] + 0.3 * chs[2]; + } +} + +#endif diff --git a/modules/viz/test/test_tutorial2.cpp b/modules/viz/test/test_tutorial2.cpp new file mode 100644 index 0000000000..a901adc2c7 --- /dev/null +++ b/modules/viz/test/test_tutorial2.cpp @@ -0,0 +1,54 @@ +#include "test_precomp.hpp" + +using namespace cv; +using namespace std; + +void tutorial2() +{ + /// Create a window + viz::Viz3d myWindow("Coordinate Frame"); + + /// Add coordinate axes + myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); + + /// Add line to represent (1,1,1) axis + viz::WLine axis(Point3f(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0)); + axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); + myWindow.showWidget("Line Widget", axis); + + /// Construct a cube widget + viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(0.0, 0.0, -0.5), true, viz::Color::blue()); + cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); + + /// Display widget (update if already displayed) + myWindow.showWidget("Cube Widget", cube_widget); + + /// Rodrigues vector + Vec3d rot_vec = Vec3d::all(0); + double translation_phase = 0.0, translation = 0.0; + while(!myWindow.wasStopped()) + { + /* Rotation using rodrigues */ + /// Rotate around (1,1,1) + rot_vec[0] += CV_PI * 0.01; + rot_vec[1] += CV_PI * 0.01; + rot_vec[2] += CV_PI * 0.01; + + /// Shift on (1,1,1) + translation_phase += CV_PI * 0.01; + translation = sin(translation_phase); + + /// Construct pose + Affine3d pose(rot_vec, Vec3d(translation, translation, translation)); + + myWindow.setWidgetPose("Cube Widget", pose); + + myWindow.spinOnce(1, true); + } +} + + +TEST(Viz, DISABLED_tutorial2_pose_of_widget) +{ + tutorial2(); +} diff --git a/modules/viz/test/test_tutorial3.cpp b/modules/viz/test/test_tutorial3.cpp new file mode 100644 index 0000000000..590e29ebfd --- /dev/null +++ b/modules/viz/test/test_tutorial3.cpp @@ -0,0 +1,64 @@ +#include "test_precomp.hpp" + +using namespace cv; +using namespace std; + +/** + * @function main + */ +void tutorial3(bool camera_pov) +{ + /// Create a window + viz::Viz3d myWindow("Coordinate Frame"); + + /// Add coordinate axes + myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); + + /// Let's assume camera has the following properties + Point3d cam_pos(3.0, 3.0, 3.0), cam_focal_point(3.0, 3.0, 2.0), cam_y_dir(-1.0, 0.0, 0.0); + + /// We can get the pose of the cam using makeCameraPose + Affine3d cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir); + + /// We can get the transformation matrix from camera coordinate system to global using + /// - makeTransformToGlobal. We need the axes of the camera + Affine3d transform = viz::makeTransformToGlobal(Vec3d(0.0, -1.0, 0.0), Vec3d(-1.0, 0.0, 0.0), Vec3d(0.0, 0.0, -1.0), cam_pos); + + /// Create a cloud widget. + Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path()); + viz::WCloud cloud_widget(dragon_cloud, viz::Color::green()); + + /// Pose of the widget in camera frame + Affine3d cloud_pose = Affine3d().translate(Vec3d(0.0, 0.0, 3.0)); + /// Pose of the widget in global frame + Affine3d cloud_pose_global = transform * cloud_pose; + + /// Visualize camera frame + if (!camera_pov) + { + viz::WCameraPosition cpw(0.5); // Coordinate axes + viz::WCameraPosition cpw_frustum(Vec2f(0.889484f, 0.523599f)); // Camera frustum + myWindow.showWidget("CPW", cpw, cam_pose); + myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); + } + + /// Visualize widget + myWindow.showWidget("bunny", cloud_widget, cloud_pose_global); + + /// Set the viewer pose to that of camera + if (camera_pov) + myWindow.setViewerPose(cam_pose); + + /// Start event loop. + myWindow.spin(); +} + +TEST(Viz, DISABLED_tutorial3_global_view) +{ + tutorial3(false); +} + +TEST(Viz, DISABLED_tutorial3_camera_view) +{ + tutorial3(true); +} diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp new file mode 100644 index 0000000000..45d3cdc3cf --- /dev/null +++ b/modules/viz/test/test_viz3d.cpp @@ -0,0 +1,64 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// + // + // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. + // + // By downloading, copying, installing or using the software you agree to this license. + // If you do not agree to this license, do not download, install, + // copy or use the software. + // + // + // License Agreement + // For Open Source Computer Vision Library + // + // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. + // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved. + // Third party copyrights are property of their respective owners. + // + // Redistribution and use in source and binary forms, with or without modification, + // are permitted provided that the following conditions are met: + // + // * Redistribution's of source code must retain the above copyright notice, + // this list of conditions and the following disclaimer. + // + // * Redistribution's in binary form must reproduce the above copyright notice, + // this list of conditions and the following disclaimer in the documentation + // and / or other materials provided with the distribution. + // + // * The name of the copyright holders may not be used to endorse or promote products + // derived from this software without specific prior written permission. + // + // This software is provided by the copyright holders and contributors "as is" and + // any express or implied warranties, including, but not limited to, the implied + // warranties of merchantability and fitness for a particular purpose are disclaimed. + // In no event shall the Intel Corporation or contributors be liable for any direct, + // indirect, incidental, special, exemplary, or consequential damages + // (including, but not limited to, procurement of substitute goods or services; + // loss of use, data, or profits; or business interruption) however caused + // and on any theory of liability, whether in contract, strict liability, + // or tort (including negligence or otherwise) arising in any way out of + // the use of this software, even if advised of the possibility of such damage. + // + //M*/ +#include "test_precomp.hpp" + +using namespace cv; + +TEST(Viz_viz3d, DISABLED_develop) +{ + cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path()); + + cv::viz::Viz3d viz("abc"); + viz.setBackgroundMeshLab(); + viz.showWidget("coo", cv::viz::WCoordinateSystem(1)); + viz.showWidget("cloud", cv::viz::WPaintedCloud(cloud)); + + //---->>>>> + //std::vector gt, es; + //cv::viz::readTrajectory(gt, "d:/Datasets/trajs/gt%05d.xml"); + //cv::viz::readTrajectory(es, "d:/Datasets/trajs/es%05d.xml"); + //cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path()); + //---->>>>> + + + viz.spin(); +} diff --git a/modules/viz/test/tests_simple.cpp b/modules/viz/test/tests_simple.cpp new file mode 100644 index 0000000000..f84b60a475 --- /dev/null +++ b/modules/viz/test/tests_simple.cpp @@ -0,0 +1,407 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// + // + // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. + // + // By downloading, copying, installing or using the software you agree to this license. + // If you do not agree to this license, do not download, install, + // copy or use the software. + // + // + // License Agreement + // For Open Source Computer Vision Library + // + // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. + // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved. + // Third party copyrights are property of their respective owners. + // + // Redistribution and use in source and binary forms, with or without modification, + // are permitted provided that the following conditions are met: + // + // * Redistribution's of source code must retain the above copyright notice, + // this list of conditions and the following disclaimer. + // + // * Redistribution's in binary form must reproduce the above copyright notice, + // this list of conditions and the following disclaimer in the documentation + // and / or other materials provided with the distribution. + // + // * The name of the copyright holders may not be used to endorse or promote products + // derived from this software without specific prior written permission. + // + // This software is provided by the copyright holders and contributors "as is" and + // any express or implied warranties, including, but not limited to, the implied + // warranties of merchantability and fitness for a particular purpose are disclaimed. + // In no event shall the Intel Corporation or contributors be liable for any direct, + // indirect, incidental, special, exemplary, or consequential damages + // (including, but not limited to, procurement of substitute goods or services; + // loss of use, data, or profits; or business interruption) however caused + // and on any theory of liability, whether in contract, strict liability, + // or tort (including negligence or otherwise) arising in any way out of + // the use of this software, even if advised of the possibility of such damage. + // + //M*/ + +#include "test_precomp.hpp" + +using namespace cv; +using namespace cv::viz; + +TEST(Viz, show_cloud_bluberry) +{ + Mat dragon_cloud = readCloud(get_dragon_ply_file_path()); + + Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); + + Viz3d viz("show_cloud_bluberry"); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose); + + viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_cloud_random_color) +{ + Mat dragon_cloud = readCloud(get_dragon_ply_file_path()); + + Mat colors(dragon_cloud.size(), CV_8UC3); + theRNG().fill(colors, RNG::UNIFORM, 0, 255); + + Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); + + Viz3d viz("show_cloud_random_color"); + viz.setBackgroundMeshLab(); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose); + viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_cloud_masked) +{ + Mat dragon_cloud = readCloud(get_dragon_ply_file_path()); + + Vec3f qnan = Vec3f::all(std::numeric_limits::quiet_NaN()); + for(size_t i = 0; i < dragon_cloud.total(); ++i) + if (i % 15 != 0) + dragon_cloud.at(i) = qnan; + + Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); + + Viz3d viz("show_cloud_masked"); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("dragon", WCloud(dragon_cloud), pose); + viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_cloud_collection) +{ + Mat cloud = readCloud(get_dragon_ply_file_path()); + + WCloudCollection ccol; + ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0))); + ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0))); + ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0))); + + Viz3d viz("show_cloud_collection"); + viz.setBackgroundColor(Color::mlab()); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("ccol", ccol); + viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_painted_clouds) +{ + Mat cloud = readCloud(get_dragon_ply_file_path()); + + Viz3d viz("show_painted_clouds"); + viz.setBackgroundMeshLab(); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0))); + viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0))); + viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red())); + viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry())); + viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_mesh) +{ + Mesh mesh = Mesh::load(get_dragon_ply_file_path()); + + Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); + + Viz3d viz("show_mesh"); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("mesh", WMesh(mesh), pose); + viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_mesh_random_colors) +{ + Mesh mesh = Mesh::load(get_dragon_ply_file_path()); + theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255); + + Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); + + Viz3d viz("show_mesh_random_color"); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("mesh", WMesh(mesh), pose); + viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG); + viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_textured_mesh) +{ + Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); + + std::vector points; + std::vector tcoords; + std::vector polygons; + for(size_t i = 0; i < 64; ++i) + { + double angle = CV_PI/2 * i/64.0; + points.push_back(Vec3d(0.00, cos(angle), sin(angle))*0.75); + points.push_back(Vec3d(1.57, cos(angle), sin(angle))*0.75); + tcoords.push_back(Vec2d(0.0, i/64.0)); + tcoords.push_back(Vec2d(1.0, i/64.0)); + } + + for(size_t i = 0; i < points.size()/2-1; ++i) + { + int polys[] = {3, 2*i, 2*i+1, 2*i+2, 3, 2*i+1, 2*i+2, 2*i+3}; + polygons.insert(polygons.end(), polys, polys + sizeof(polys)/sizeof(polys[0])); + } + + cv::viz::Mesh mesh; + mesh.cloud = Mat(points, true).reshape(3, 1); + mesh.tcoords = Mat(tcoords, true).reshape(2, 1); + mesh.polygons = Mat(polygons, true).reshape(1, 1); + mesh.texture = lena; + + Viz3d viz("show_textured_mesh"); + viz.setBackgroundMeshLab(); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("mesh", WMesh(mesh)); + viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG); + viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_polyline) +{ + Mat polyline(1, 32, CV_64FC3); + for(size_t i = 0; i < polyline.total(); ++i) + polyline.at(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6)); + + Viz3d viz("show_polyline"); + viz.showWidget("polyline", WPolyLine(Mat(polyline), Color::apricot())); + viz.showWidget("coosys", WCoordinateSystem()); + viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_sampled_normals) +{ + Mesh mesh = Mesh::load(get_dragon_ply_file_path()); + computeNormals(mesh, mesh.normals); + + Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); + + Viz3d viz("show_sampled_normals"); + viz.showWidget("mesh", WMesh(mesh), pose); + viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose); + viz.setRenderingProperty("normals", LINE_WIDTH, 2.0); + viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_trajectories) +{ + std::vector path = generate_test_trajectory(), sub0, sub1, sub2, sub3, sub4, sub5; + + Mat(path).rowRange(0, path.size()/10+1).copyTo(sub0); + Mat(path).rowRange(path.size()/10, path.size()/5+1).copyTo(sub1); + Mat(path).rowRange(path.size()/5, 11*path.size()/12).copyTo(sub2); + Mat(path).rowRange(11*path.size()/12, path.size()).copyTo(sub3); + Mat(path).rowRange(3*path.size()/4, 33*path.size()/40).copyTo(sub4); + Mat(path).rowRange(33*path.size()/40, 9*path.size()/10).copyTo(sub5); + Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0); + + Viz3d viz("show_trajectories"); + viz.showWidget("coos", WCoordinateSystem()); + viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07)); + viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown())); + viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2)); + viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green())); + viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow())); + viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15)); + viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green())); + + int i = 0; + while(!viz.wasStopped()) + { + double a = --i % 360; + Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180)); + viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0))); + viz.spinOnce(20, true); + } + viz.resetCamera(); + viz.spin(); +} + +TEST(Viz, show_trajectory_reposition) +{ + std::vector path = generate_test_trajectory(); + + Viz3d viz("show_trajectory_reposition_to_origin"); + viz.showWidget("coos", WCoordinateSystem()); + viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv()); + viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_camera_positions) +{ + Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0); + Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); + Mat gray = make_gray(lena); + + Affine3d poses[2]; + for(int i = 0; i < 2; ++i) + { + Vec3d pose = 5 * Vec3d(sin(3.14 + 2.7 + i*60 * CV_PI/180), 0.4 - i*0.3, cos(3.14 + 2.7 + i*60 * CV_PI/180)); + poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0)); + } + + Viz3d viz("show_camera_positions"); + viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red())); + viz.showWidget("coos", WCoordinateSystem(1.5)); + viz.showWidget("pos1", WCameraPosition(0.75), poses[0]); + viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]); + viz.showWidget("pos3", WCameraPosition(0.75), poses[1]); + viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]); + viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_overlay_image) +{ + Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); + Mat gray = make_gray(lena); + + Size2d half_lsize = Size2d(lena.cols, lena.rows) * 0.5; + + Viz3d viz("show_overlay_image"); + viz.setBackgroundMeshLab(); + Size vsz = viz.getWindowSize(); + + viz.showWidget("coos", WCoordinateSystem()); + viz.showWidget("cube", WCube()); + viz.showWidget("img1", WImageOverlay(lena, Rect(Point(10, 10), half_lsize))); + viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize))); + viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize))); + viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize))); + viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green())); + + int i = 0; + while(!viz.wasStopped()) + { + double a = ++i % 360; + Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180)); + viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0))); + viz.getWidget("img1").cast().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0)); + viz.spinOnce(1, true); + } + viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green())); + viz.spin(); +} + + +TEST(Viz, show_image_method) +{ + Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); + + Viz3d viz("show_image_method"); + viz.showImage(lena); + viz.spinOnce(1500, true); + viz.showImage(lena, lena.size()); + viz.spinOnce(1500, true); + + cv::viz::imshow("show_image_method", make_gray(lena)).spin(); +} + +TEST(Viz, show_image_3d) +{ + Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); + Mat gray = make_gray(lena); + + Viz3d viz("show_image_3d"); + viz.setBackgroundMeshLab(); + viz.showWidget("coos", WCoordinateSystem()); + viz.showWidget("cube", WCube()); + viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry())); + viz.showWidget("img0", WImage3D(lena, Size2d(1.0, 1.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(.5, 0.0, 0.0))); + viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry())); + viz.showWidget("img1", WImage3D(gray, Size2d(1.0, 1.0), Vec3d(-0.5, -0.5, 0.0), Vec3d(1.0, 1.0, 0.0), Vec3d(0.0, 1.0, 0.0))); + + viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry())); + + viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green())); + + int i = 0; + while(!viz.wasStopped()) + { + viz.getWidget("img0").cast().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0)); + viz.spinOnce(1, true); + } + viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green())); + viz.spin(); +} + +TEST(Viz, show_simple_widgets) +{ + Viz3d viz("show_simple_widgets"); + viz.setBackgroundMeshLab(); + + viz.showWidget("coos", WCoordinateSystem()); + viz.showWidget("cube", WCube()); + viz.showWidget("cub0", WCube(Vec3d::all(-1.0), Vec3d::all(-0.5), false, Color::indigo())); + viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry())); + viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry())); + viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot())); + + viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown())); + viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure())); + viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise())); + + viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green())); + viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5, 0.5, 0.5), 0.125, false, Color::green())); + + viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75))); + viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold())); + + viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0))); + + viz.spin(); + viz.getWidget("text2d").cast().setText("Different simple widgets (updated)"); + viz.getWidget("text3d").cast().setText("Updated text 3D"); + viz.spin(); +} + +TEST(Viz, show_follower) +{ + Viz3d viz("show_follower"); + + viz.showWidget("coos", WCoordinateSystem()); + viz.showWidget("cube", WCube()); + viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true, Color::green())); + viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green())); + viz.setBackgroundMeshLab(); + viz.spin(); + viz.getWidget("t3d_2").cast().setText("Updated follower 3D"); + viz.spin(); +}