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setDesiredUpdateRate implementation in Viz3d

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pull/1453/head
ozantonkal 12 years ago committed by Ozan Tonkal
parent ed0162ad0b
commit 3038ffb886
4 changed files with 130 additions and 103 deletions
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  1. 3
      modules/viz/include/opencv2/viz/viz3d.hpp
  2. 5
      modules/viz/src/viz3d.cpp
  3. 221
      modules/viz/src/viz3d_impl.cpp
  4. 4
      modules/viz/src/viz3d_impl.hpp

3
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -60,6 +60,9 @@ namespace cv
void setRenderingProperty(int property, double value, const String &id);
double getRenderingProperty(int property, const String &id);
void setDesiredUpdateRate(double time);
double getDesiredUpdateRate();
void setRepresentationToSurface();
void setRepresentationToWireframe();
void setRepresentationToPoints();

5
modules/viz/src/viz3d.cpp
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@ -80,6 +80,9 @@ void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgrou
void cv::viz::Viz3d::setRenderingProperty(int property, double value, const String &id) { getWidget(id).setRenderingProperty(property, value); }
double cv::viz::Viz3d::getRenderingProperty(int property, const String &id) { return getWidget(id).getRenderingProperty(property); }
void cv::viz::Viz3d::setDesiredUpdateRate(double time) { impl_->setDesiredUpdateRate(time); }
double cv::viz::Viz3d::getDesiredUpdateRate() { return impl_->getDesiredUpdateRate(); }
void cv::viz::Viz3d::setRepresentationToSurface() { impl_->setRepresentationToSurface(); }
void cv::viz::Viz3d::setRepresentationToWireframe() { impl_->setRepresentationToWireframe(); }
void cv::viz::Viz3d::setRepresentationToPoints() { impl_->setRepresentationToPoints(); }
void cv::viz::Viz3d::setRepresentationToPoints() { impl_->setRepresentationToPoints(); }

221
modules/viz/src/viz3d_impl.cpp
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@ -84,6 +84,127 @@ cv::viz::Viz3d::VizImpl::~VizImpl ()
if (renderer_) renderer_->Clear();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget, const Affine3f &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<vtkMatrix4x4> matrix = convertToVtkMatrix(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(exists);
CV_Assert(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(exists);
Widget widget;
WidgetAccessor::setProp(widget, wam_itr->second);
return widget;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setWidgetPose(id, pose);
return ;
}
Matx44f matrix_cv = convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = convertToVtkMatrix(updated_pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
cv::Affine3f 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(exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setDesiredUpdateRate(double time)
{
if (interactor_)
interactor_->SetDesiredUpdateRate(time);
}
/////////////////////////////////////////////////////////////////////////////////////////////
double cv::viz::Viz3d::VizImpl::getDesiredUpdateRate()
{
if (interactor_)
return interactor_->GetDesiredUpdateRate();
return 0.0;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::saveScreenshot (const std::string &file) { style_->saveScreenshot (file); }
@ -492,103 +613,3 @@ cv::String cv::viz::Viz3d::VizImpl::getWindowName() const
void cv::viz::Viz3d::VizImpl::setWindowPosition (int x, int y) { window_->SetPosition (x, y); }
void cv::viz::Viz3d::VizImpl::setWindowSize (int xw, int yw) { window_->SetSize (xw, yw); }
cv::Size cv::viz::Viz3d::VizImpl::getWindowSize() const { return Size(window_->GetSize()[0], window_->GetSize()[1]); }
void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget, const Affine3f &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<vtkMatrix4x4> matrix = convertToVtkMatrix(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(exists);
CV_Assert(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(exists);
Widget widget;
WidgetAccessor::setProp(widget, wam_itr->second);
return widget;
}
void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setWidgetPose(id, pose);
return ;
}
Matx44f matrix_cv = convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = convertToVtkMatrix(updated_pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
cv::Affine3f 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(exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);
}

4
modules/viz/src/viz3d_impl.hpp
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@ -26,8 +26,8 @@ public:
void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const;
void setRenderingProperty(int property, double value, const String &id);
double getRenderingProperty(int property, const String &id);
void setDesiredUpdateRate(double time);
double getDesiredUpdateRate();
/** \brief Returns true when the user tried to close the window */
bool wasStopped () const { if (interactor_ != NULL) return (stopped_); else return true; }

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