trajectory widget display options: display path, display frames, display both

modules/viz/include/opencv2/viz/widgets.hpp

@@ -180,7 +180,9 @@ namespace cv
         class CV_EXPORTS TrajectoryWidget : public Widget3D
         {
         public:
-            TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color = Color::white(), bool show_frames = false, double scale = 1.0);
+            enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
+            
+            TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
             TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
             
         private:

modules/viz/src/shape_widgets.cpp

@@ -1162,38 +1162,54 @@ struct cv::viz::TrajectoryWidget::ApplyPath
     }
 };
 
-cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color, bool show_frames, double scale)
+cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode, const Color &color, double scale)
 {
-    vtkIdType nr_points = path.size();    
-    
-    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
-    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
-    vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
-    
-    points->SetDataTypeToFloat();
-    points->SetNumberOfPoints(nr_points);
-    polyLine->GetPointIds()->SetNumberOfIds(nr_points);
-    
-    Vec3f last_pos(0.0f,0.0f,0.0f);
-    Vec3f *data_beg = vtkpoints_data<float>(points);
-    *data_beg = path[0] * last_pos;
+    vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
     
-    for (vtkIdType i = 0; i < nr_points; ++i)
+    if (display_mode & TrajectoryWidget::DISPLAY_PATH)
     {
-        last_pos = path[i] * last_pos;
-        *data_beg++ = last_pos;
-        polyLine->GetPointIds()->SetId(i,i);
-    }
-    
-    vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
-    cells->InsertNextCell(polyLine);
+        // Create a poly line along the path
+        vtkIdType nr_points = path.size();    
     
-    polyData->SetPoints(points);
-    polyData->SetLines(cells);
+        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
+        vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
+        vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
+        
+        points->SetDataTypeToFloat();
+        points->SetNumberOfPoints(nr_points);
+        polyLine->GetPointIds()->SetNumberOfIds(nr_points);
+        
+        Vec3f last_pos(0.0f,0.0f,0.0f);
+        Vec3f *data_beg = vtkpoints_data<float>(points);
+        
+        for (vtkIdType i = 0; i < nr_points; ++i)
+        {
+            last_pos = path[i] * last_pos;
+            *data_beg++ = last_pos;
+            polyLine->GetPointIds()->SetId(i,i);
+        }
+        
+        vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+        cells->InsertNextCell(polyLine);
+        
+        polyData->SetPoints(points);
+        polyData->SetLines(cells);
+        
+        // Set the color for polyData
+        vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
+        colors->SetNumberOfComponents(3);
+        
+        // TODO Make this more efficient
+        for (int i = 0; i < nr_points; ++i)
+            colors->InsertNextTuple3(color[2], color[1], color[0]);
+        
+        polyData->GetPointData()->SetScalars(colors);
+        appendFilter->AddInputConnection(polyData->GetProducerPort());
+    }
     
-    vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
-    if (show_frames)
+    if (display_mode & TrajectoryWidget::DISPLAY_FRAMES)
     {
+        // Create frames and transform along the path
         vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
         axes->SetOrigin (0, 0, 0);
         axes->SetScaleFactor (scale);
@@ -1220,18 +1236,6 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c
         ApplyPath::applyPath(axes_tubes->GetOutput(), appendFilter, path);
     }
     
-    // Set the color for polyData
-    vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
-    colors->SetNumberOfComponents(3);
-    
-    // TODO Make this more efficient
-    for (int i = 0; i < nr_points; ++i)
-        colors->InsertNextTuple3(color[2], color[1], color[0]);
-    
-    polyData->GetPointData()->SetScalars(colors);
-    
-    appendFilter->AddInputConnection(polyData->GetProducerPort());
-    
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     mapper->SetScalarModeToUsePointData ();
     mapper->SetInput(appendFilter->GetOutput());