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initial cloud widget implementation, fix safedowncasts

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pull/1453/head
ozantonkal 12 years ago
parent d394e233bb
commit 6e5ae98582
5 changed files with 278 additions and 23 deletions
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  1. 7
      modules/viz/include/opencv2/viz/widgets.hpp
  2. 265
      modules/viz/src/simple_widgets.cpp
  3. 2
      modules/viz/src/viz3d_impl.cpp
  4. 8
      modules/viz/src/widget.cpp
  5. 19
      modules/viz/test/test_viz3d.cpp

7
modules/viz/include/opencv2/viz/widgets.hpp
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@ -97,4 +97,11 @@ namespace temp_viz
// TODO Overload setColor method, and hide setPose, updatePose, getPose methods
};
class CV_EXPORTS CloudWidget : public Widget
{
public:
CloudWidget(InputArray _cloud, InputArray _colors);
CloudWidget(InputArray _cloud, const Color &color = Color::white());
};
}

265
modules/viz/src/simple_widgets.cpp
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@ -1,5 +1,10 @@
#include "precomp.hpp"
namespace temp_viz
{
template<typename _Tp> Vec<_Tp, 3>* vtkpoints_data(vtkSmartPointer<vtkPoints>& points);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// line widget implementation
temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
@ -12,7 +17,7 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(line->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -20,13 +25,13 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
void temp_viz::LineWidget::setLineWidth(float line_width)
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->GetProperty()->SetLineWidth(line_width);
}
float temp_viz::LineWidget::getLineWidth()
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
return actor->GetProperty()->GetLineWidth();
}
@ -43,7 +48,7 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
actor->SetScale(size);
@ -64,7 +69,7 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
actor->SetScale(size);
@ -87,7 +92,7 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(sphere->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -149,7 +154,7 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(transformPD->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -178,7 +183,7 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tf->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -202,7 +207,7 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tuber->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -219,7 +224,7 @@ temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, b
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(cube->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
if (wire_frame)
@ -259,7 +264,7 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
mapper->SetScalarModeToUsePointData ();
mapper->SetInput(axes_tubes->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
cv::Vec3d t = affine.translation();
@ -277,9 +282,12 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// text widget implementation
temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) : Widget(true)
{
vtkSmartPointer<vtkTextActor> actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetPosition (pos.x, pos.y);
actor->SetInput (text.c_str ());
@ -292,3 +300,236 @@ temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int fon
Color c = vtkcolor(color);
tprop->SetColor (c.val);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// point cloud widget implementation
temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
{
Mat cloud = _cloud.getMat();
Mat colors = _colors.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New ();
polydata->SetVerts (vertices);
vtkSmartPointer<vtkPoints> points = polydata->GetPoints();
vtkSmartPointer<vtkIdTypeArray> initcells;
vtkIdType nr_points = cloud.total();
points = polydata->GetPoints ();
if (!points)
{
points = vtkSmartPointer<vtkPoints>::New ();
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble();
polydata->SetPoints (points);
}
points->SetNumberOfPoints (nr_points);
if (cloud.depth() == CV_32F)
{
// Get a pointer to the beginning of the data array
Vec3f *data_beg = vtkpoints_data<float>(points);
Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
nr_points = data_end - data_beg;
}
else if (cloud.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data_beg = vtkpoints_data<double>(points);
Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
nr_points = data_end - data_beg;
}
points->SetNumberOfPoints (nr_points);
// Update cells
vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
// If no init cells and cells has not been initialized...
if (!cells)
cells = vtkSmartPointer<vtkIdTypeArray>::New ();
// If we have less values then we need to recreate the array
if (cells->GetNumberOfTuples () < nr_points)
{
cells = vtkSmartPointer<vtkIdTypeArray>::New ();
// If init cells is given, and there's enough data in it, use it
if (initcells && initcells->GetNumberOfTuples () >= nr_points)
{
cells->DeepCopy (initcells);
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
}
else
{
// If the number of tuples is still too small, we need to recreate the array
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
vtkIdType *cell = cells->GetPointer (0);
// Fill it with 1s
std::fill_n (cell, nr_points * 2, 1);
cell++;
for (vtkIdType i = 0; i < nr_points; ++i, cell += 2)
*cell = i;
// Save the results in initcells
initcells = vtkSmartPointer<vtkIdTypeArray>::New ();
initcells->DeepCopy (cells);
}
}
else
{
// The assumption here is that the current set of cells has more data than needed
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
}
// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
Vec3b* colors_data = new Vec3b[nr_points];
NanFilter::copy(colors, colors_data, cloud);
vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);
scalars->SetNumberOfTuples (nr_points);
scalars->SetArray (colors_data->val, 3 * nr_points, 0);
// Assign the colors
polydata->GetPointData ()->SetScalars (scalars);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput (polydata);
cv::Vec3d minmax(scalars->GetRange());
mapper->SetScalarRange(minmax.val);
mapper->SetScalarModeToUsePointData ();
bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
mapper->SetInterpolateScalarsBeforeMapping (interpolation);
mapper->ScalarVisibilityOn ();
mapper->ImmediateModeRenderingOff ();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
actor->GetProperty ()->SetInterpolationToFlat ();
actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper);
}
temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
{
Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New ();
polydata->SetVerts (vertices);
vtkSmartPointer<vtkPoints> points = polydata->GetPoints();
vtkSmartPointer<vtkIdTypeArray> initcells;
vtkIdType nr_points = cloud.total();
points = polydata->GetPoints ();
if (!points)
{
points = vtkSmartPointer<vtkPoints>::New ();
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble();
polydata->SetPoints (points);
}
points->SetNumberOfPoints (nr_points);
if (cloud.depth() == CV_32F)
{
// Get a pointer to the beginning of the data array
Vec3f *data_beg = vtkpoints_data<float>(points);
Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
nr_points = data_end - data_beg;
}
else if (cloud.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data_beg = vtkpoints_data<double>(points);
Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
nr_points = data_end - data_beg;
}
points->SetNumberOfPoints (nr_points);
// Update cells
vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
// If no init cells and cells has not been initialized...
if (!cells)
cells = vtkSmartPointer<vtkIdTypeArray>::New ();
// If we have less values then we need to recreate the array
if (cells->GetNumberOfTuples () < nr_points)
{
cells = vtkSmartPointer<vtkIdTypeArray>::New ();
// If init cells is given, and there's enough data in it, use it
if (initcells && initcells->GetNumberOfTuples () >= nr_points)
{
cells->DeepCopy (initcells);
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
}
else
{
// If the number of tuples is still too small, we need to recreate the array
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
vtkIdType *cell = cells->GetPointer (0);
// Fill it with 1s
std::fill_n (cell, nr_points * 2, 1);
cell++;
for (vtkIdType i = 0; i < nr_points; ++i, cell += 2)
*cell = i;
// Save the results in initcells
initcells = vtkSmartPointer<vtkIdTypeArray>::New ();
initcells->DeepCopy (cells);
}
}
else
{
// The assumption here is that the current set of cells has more data than needed
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
}
// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
Color c = vtkcolor(color);
polydata->GetPointData ()->SetScalars (0);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput (polydata);
bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
mapper->SetInterpolateScalarsBeforeMapping (interpolation);
mapper->ScalarVisibilityOn ();
mapper->ImmediateModeRenderingOff ();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
actor->GetProperty ()->SetInterpolationToFlat ();
actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper);
}

2
modules/viz/src/viz3d_impl.cpp
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@ -874,7 +874,7 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
removeActorFromRenderer(wam_itr->second.actor);
}
// Get the actor and set the user matrix
vtkSmartPointer<vtkLODActor> actor;
vtkLODActor *actor;
if (actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(widget)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);

8
modules/viz/src/widget.cpp
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@ -18,7 +18,7 @@ public:
void setColor(const Color& color)
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
Color c = vtkcolor(color);
lod_actor->GetMapper ()->ScalarVisibilityOff ();
lod_actor->GetProperty ()->SetColor (c.val);
@ -32,7 +32,7 @@ public:
void setPose(const Affine3f& pose)
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
lod_actor->SetUserMatrix (matrix);
lod_actor->Modified ();
@ -40,7 +40,7 @@ public:
void updatePose(const Affine3f& pose)
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
if (!matrix)
{
@ -58,7 +58,7 @@ public:
Affine3f getPose() const
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);

19
modules/viz/test/test_viz3d.cpp
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@ -53,7 +53,7 @@
cv::Mat cvcloud_load()
{
cv::Mat cloud(1, 20000, CV_32FC3);
std::ifstream ifs("d:/cloud_dragon.ply");
std::ifstream ifs("cloud_dragon.ply");
std::string str;
for(size_t i = 0; i < 11; ++i)
@ -99,23 +99,29 @@ TEST(Viz_viz3d, accuracy)
temp_viz::CubeWidget cuw(cv::Point3f(-2,-2,-2), cv::Point3f(-1,-1,-1));
temp_viz::CoordinateSystemWidget csw(1.0f, cv::Affine3f::Identity());
temp_viz::TextWidget tw("TEST", cv::Point2i(100,100), 20);
temp_viz::CloudWidget pcw(cloud, colors);
temp_viz::CloudWidget pcw2(cloud, temp_viz::Color(255,255,255));
// v.showWidget("line", lw);
v.showWidget("plane", pw);
// v.showWidget("plane", pw);
// v.showWidget("sphere", sw);
// v.showWidget("arrow", aw);
// v.showWidget("circle", cw);
// v.showWidget("cylinder", cyw);
v.showWidget("cube", cuw);
// v.showWidget("cube", cuw);
v.showWidget("coordinateSystem", csw);
v.showWidget("text",tw);
// v.showWidget("text",tw);
v.showWidget("pcw",pcw);
v.showWidget("pcw2",pcw2);
temp_viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
while(!v.wasStopped())
{
// Creating new point cloud with id cloud1
cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2));
lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
lw.setLineWidth(lw.getLineWidth()+pos_x * 10);
@ -129,8 +135,9 @@ TEST(Viz_viz3d, accuracy)
cyw.setPose(cloudPosition);
lw.setPose(cloudPosition);
cuw.setPose(cloudPosition);
v.showWidget("plane", pw, cloudPosition);
v.showWidget("pcw",pcw, cloudPosition);
v.showWidget("pcw2",pcw2, cloudPosition2);
// v.showWidget("plane", pw, cloudPosition);
angle_x += 0.1f;
angle_y -= 0.1f;

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