Anatoly Baksheev
11 years ago
parent
771d9509a8
commit
a8556134ae
6 changed files with 227 additions and 94 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#include "precomp.hpp" |
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namespace cv { namespace viz |
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{ |
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vtkStandardNewMacro(vtkTrajectorySource); |
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}} |
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cv::viz::vtkTrajectorySource::vtkTrajectorySource() { SetNumberOfInputPorts(0); } |
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cv::viz::vtkTrajectorySource::~vtkTrajectorySource() {} |
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void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj) |
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{ |
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CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT); |
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CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16)); |
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Mat traj; |
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_traj.getMat().convertTo(traj, CV_64F); |
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const Affine3d* dpath = _traj.getMat().ptr<Affine3d>(); |
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size_t total = _traj.total(); |
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points = vtkSmartPointer<vtkPoints>::New(); |
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points->SetDataType(VTK_DOUBLE); |
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points->SetNumberOfPoints(total); |
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tensors = vtkSmartPointer<vtkDoubleArray>::New(); |
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tensors->SetNumberOfComponents(9); |
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tensors->SetNumberOfTuples(total); |
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for(size_t i = 0; i < total; ++i, ++dpath) |
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{ |
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Matx33d R = dpath->rotation().t(); // transposed because of
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tensors->SetTuple(i, R.val); // column major order
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Vec3d p = dpath->translation(); |
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points->SetPoint(i, p.val); |
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} |
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} |
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cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj) |
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{ |
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CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT); |
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CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16)); |
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Mat points(1, _traj.total(), CV_MAKETYPE(_traj.depth(), 3)); |
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const Affine3d* dpath = _traj.getMat().ptr<Affine3d>(); |
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const Affine3f* fpath = _traj.getMat().ptr<Affine3f>(); |
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if (_traj.depth() == CV_32F) |
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for(int i = 0; i < points.cols; ++i) |
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points.at<Vec3f>(i) = fpath[i].translation(); |
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if (_traj.depth() == CV_64F) |
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for(int i = 0; i < points.cols; ++i) |
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points.at<Vec3d>(i) = dpath[i].translation(); |
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return points; |
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} |
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int cv::viz::vtkTrajectorySource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector) |
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{ |
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vtkInformation *outInfo = outputVector->GetInformationObject(0); |
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vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT())); |
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output->SetPoints(points); |
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output->GetPointData()->SetTensors(tensors); |
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return 1; |
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} |
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@ -0,0 +1,84 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
||||
//
|
||||
//
|
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// License Agreement
|
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// For Open Source Computer Vision Library
|
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//
|
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
|
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// This software is provided by the copyright holders and contributors "as is" and
|
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// any express or implied warranties, including, but not limited to, the implied
|
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// In no event shall the Intel Corporation or contributors be liable for any direct,
|
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// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
|
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// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
|
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//
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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#ifndef __vtkTrajectorySource_h |
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#define __vtkTrajectorySource_h |
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#include <opencv2/core/mat.hpp> |
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#include <vtkPolyDataAlgorithm.h> |
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#include <vtkSmartPointer.h> |
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#include <vtkPoints.h> |
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#include <vtkCellArray.h> |
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namespace cv |
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{ |
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namespace viz |
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{ |
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class vtkTrajectorySource : public vtkPolyDataAlgorithm |
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{ |
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public: |
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static vtkTrajectorySource *New(); |
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vtkTypeMacro(vtkTrajectorySource,vtkPolyDataAlgorithm); |
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virtual void SetTrajectory(InputArray trajectory); |
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static Mat ExtractPoints(InputArray trajectory); |
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protected: |
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vtkTrajectorySource(); |
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~vtkTrajectorySource(); |
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vtkSmartPointer<vtkPoints> points; |
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vtkSmartPointer<vtkDoubleArray> tensors; |
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int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *); |
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private: |
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vtkTrajectorySource(const vtkTrajectorySource&); // Not implemented.
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void operator=(const vtkTrajectorySource&); // Not implemented.
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}; |
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} |
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} |
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#endif |
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