Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

shorten Trajectory widget implementation

Browse Source
pull/1453/head
ozantonkal 12 years ago
parent 5af739dfc1
commit c0f44ca421
3 changed files with 99 additions and 78 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 3
      modules/viz/include/opencv2/viz/widgets.hpp
  2. 135
      modules/viz/src/shape_widgets.cpp
  3. 39
      modules/viz/test/test_viz3d.cpp

3
modules/viz/include/opencv2/viz/widgets.hpp
Unescape View File

@ -180,6 +180,9 @@ namespace cv
public:
TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color = Color::white(), bool show_frames = false, 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:
struct ApplyPath;
};
class CV_EXPORTS CloudWidget : public Widget3D

135
modules/viz/src/shape_widgets.cpp
Unescape View File

@ -984,6 +984,36 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double sca
///////////////////////////////////////////////////////////////////////////////////////////////
/// trajectory widget implementation
struct cv::viz::TrajectoryWidget::ApplyPath
{
static void applyPath(vtkSmartPointer<vtkPolyData> poly_data, vtkSmartPointer<vtkAppendPolyData> append_filter, const std::vector<Affine3f> &path)
{
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->Identity();
vtkIdType nr_points = path.size();
for (vtkIdType i = 0; i < nr_points; ++i)
{
vtkSmartPointer<vtkPolyData> new_data = vtkSmartPointer<vtkPolyData>::New();
new_data->DeepCopy(poly_data);
// Transform the default coordinate frame
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
vtkMatrix4x4::Multiply4x4(convertToVtkMatrix(path[i].matrix), mat_trans, mat_trans);
transform->SetMatrix(mat_trans);
vtkSmartPointer<vtkTransformPolyDataFilter> filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
filter->SetInput(new_data);
filter->SetTransform(transform);
filter->Update();
append_filter->AddInputConnection(filter->GetOutputPort());
}
}
};
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color, bool show_frames, double scale)
{
vtkIdType nr_points = path.size();
@ -1016,49 +1046,33 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
if (show_frames)
{
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->Identity();
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
for (vtkIdType i = 0; i < nr_points; ++i)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
vtkSmartPointer<vtkUnsignedCharArray> axes_colors = vtkSmartPointer<vtkUnsignedCharArray>::New ();
axes_colors->SetNumberOfComponents(3);
axes_colors->InsertNextTuple3(255,0,0);
axes_colors->InsertNextTuple3(255,0,0);
axes_colors->InsertNextTuple3(0,255,0);
axes_colors->InsertNextTuple3(0,255,0);
axes_colors->InsertNextTuple3(0,0,255);
axes_colors->InsertNextTuple3(0,0,255);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
// Transform the default coordinate frame
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
vtkMatrix4x4::Multiply4x4(convertToVtkMatrix(path[i].matrix), mat_trans, mat_trans);
transform->SetMatrix(mat_trans);
vtkSmartPointer<vtkTransformPolyDataFilter> filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
filter->SetInput(axes_data);
filter->SetTransform(transform);
filter->Update();
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
axes_tubes->SetInput (filter->GetOutput());
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
appendFilter->AddInputConnection(axes_tubes->GetOutputPort());
}
vtkSmartPointer<vtkUnsignedCharArray> axes_colors = vtkSmartPointer<vtkUnsignedCharArray>::New ();
axes_colors->SetNumberOfComponents(3);
axes_colors->InsertNextTuple3(255,0,0);
axes_colors->InsertNextTuple3(255,0,0);
axes_colors->InsertNextTuple3(0,255,0);
axes_colors->InsertNextTuple3(0,255,0);
axes_colors->InsertNextTuple3(0,0,255);
axes_colors->InsertNextTuple3(0,0,255);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
axes_tubes->SetInput (axes_data);
axes_tubes->SetRadius (axes->GetScaleFactor() / 50.0);
axes_tubes->SetNumberOfSides (6);
axes_tubes->Update();
ApplyPath::applyPath(axes_tubes->GetOutput(), appendFilter, path);
}
// Set the color only for polyData
// Set the color for polyData
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetNumberOfComponents(3);
@ -1103,36 +1117,19 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->Identity();
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
for (vtkIdType i = 0; i < nr_points; ++i)
{
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
// Extract the edges
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInput(frustumSource->GetOutput());
filter->Update();
// Transform the default coordinate frame
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
vtkMatrix4x4::Multiply4x4(convertToVtkMatrix(path[i].matrix), mat_trans, mat_trans);
transform->SetMatrix(mat_trans);
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetInput(filter->GetOutput());
transform_filter->SetTransform(transform);
transform_filter->Update();
appendFilter->AddInputConnection(transform_filter->GetOutputPort());
}
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
// Extract the edges
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInput(frustumSource->GetOutput());
filter->Update();
ApplyPath::applyPath(filter->GetOutput(), appendFilter, path);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInput(appendFilter->GetOutput());

39
modules/viz/test/test_viz3d.cpp
Unescape View File

@ -89,7 +89,9 @@ TEST(Viz_viz3d, accuracy)
viz::Color color = viz::Color::black();
viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green());
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0), 5.0);
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0));
viz::PlaneWidget pw2(Vec4f(0.0,1.0,2.0,3.0), 2.0, viz::Color::red());
viz::PlaneWidget pw3(Vec4f(0.0,1.0,2.0,3.0), 3.0, viz::Color::blue());
viz::SphereWidget sw(Point3f(0, 0, 0), 0.2);
viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), 0.01, viz::Color::red());
viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green());
@ -101,8 +103,10 @@ TEST(Viz_viz3d, accuracy)
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
// viz.showWidget("line", lw);
// viz.showWidget("plane", pw);
viz.showWidget("sphere", sw);
viz.showWidget("plane", pw);
viz.showWidget("plane2", pw2);
viz.showWidget("plane3", pw3);
// viz.showWidget("sphere", sw);
// viz.showWidget("arrow", aw);
// viz.showWidget("circle", cw);
// viz.showWidget("cylinder", cyw);
@ -145,16 +149,33 @@ TEST(Viz_viz3d, accuracy)
viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::CameraPositionWidget cpw2(0.5);
viz::CameraPositionWidget frustum(K, 2.0, viz::Color::green());
// viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum3(Vec2f(CV_PI, CV_PI/2), 4.0);
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
viz::Text3DWidget t3w2("Camera2", Point3f(0,0,0), 0.1);
viz.showWidget("CameraPositionWidget", cpw);
viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("camera_label", t3w1);
viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("CameraPositionWidget", cpw);
// viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("camera_label", t3w1);
// viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustum3", frustum3, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
std::vector<Affine3f> trajectory;
trajectory.push_back(Affine3f().translate(Vec3f(0.5,0.5,0.5)));
trajectory.push_back(Affine3f().translate(Vec3f(1.0,0.0,0.0)));
trajectory.push_back(Affine3f().translate(Vec3f(2.0,0.5,0.0)));
trajectory.push_back(Affine3f(0.5, 0.0, 0.0, Vec3f(1.0,0.0,1.0)));
//
viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory, viz::Color(0,255,255), true, 0.5));
viz.showWidget("trajectory2", viz::TrajectoryWidget(trajectory, K, 1.0, viz::Color(255,0,255)));
// viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory/*, viz::Color::yellow()*/));
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);

Write Preview
Loading…
Cancel
Save