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merged background color with background gradient methods, updated tests to show description of scene

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pull/2173/head
Anatoly Baksheev 11 years ago
parent 16281027af
commit d7ca0bb757
8 changed files with 51 additions and 26 deletions
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  1. 4
      modules/viz/include/opencv2/viz/types.hpp
  2. 3
      modules/viz/include/opencv2/viz/viz3d.hpp
  3. 6
      modules/viz/src/shapes.cpp
  4. 3
      modules/viz/src/viz3d.cpp
  5. 30
      modules/viz/src/vizimpl.cpp
  6. 3
      modules/viz/src/vizimpl.hpp
  7. 3
      modules/viz/test/test_viz3d.cpp
  8. 25
      modules/viz/test/tests_simple.cpp

4
modules/viz/include/opencv2/viz/types.hpp
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@ -102,6 +102,8 @@ namespace cv
static Color turquoise(); static Color turquoise();
static Color celestial_blue(); static Color celestial_blue();
static Color amethyst(); static Color amethyst();
static Color not_set();
}; };
class CV_EXPORTS Mesh class CV_EXPORTS Mesh
@ -229,4 +231,6 @@ inline cv::viz::Color cv::viz::Color::turquoise() { return Color(208, 224,
inline cv::viz::Color cv::viz::Color::celestial_blue() { return Color(208, 151, 73); } inline cv::viz::Color cv::viz::Color::celestial_blue() { return Color(208, 151, 73); }
inline cv::viz::Color cv::viz::Color::amethyst() { return Color(204, 102, 153); } inline cv::viz::Color cv::viz::Color::amethyst() { return Color(204, 102, 153); }
inline cv::viz::Color cv::viz::Color::not_set() { return Color(-1, -1, -1); }
#endif #endif

3
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -98,9 +98,8 @@ namespace cv
void saveScreenshot(const String &file); void saveScreenshot(const String &file);
void setWindowPosition(const Point& window_position); void setWindowPosition(const Point& window_position);
void setFullScreen(bool mode = true); void setFullScreen(bool mode = true);
void setBackgroundColor(const Color& color = Color::black()); void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set());
void setBackgroundTexture(InputArray image = noArray()); void setBackgroundTexture(InputArray image = noArray());
void setBackgroundGradient(const Color& up, const Color& down);
void setBackgroundMeshLab(); void setBackgroundMeshLab();
void spin(); void spin();

6
modules/viz/src/shapes.cpp
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@ -549,12 +549,14 @@ template<> cv::viz::WText3D cv::viz::Widget::cast<cv::viz::WText3D>()
cv::viz::WText::WText(const String &text, const Point &pos, int font_size, const Color &color) cv::viz::WText::WText(const String &text, const Point &pos, int font_size, const Color &color)
{ {
vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New(); vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New();
actor->SetPosition(pos.x, pos.y); actor->SetDisplayPosition(pos.x, pos.y);
actor->SetInput(text.c_str()); actor->SetInput(text.c_str());
actor->GetProperty()->SetDisplayLocationToForeground();
vtkSmartPointer<vtkTextProperty> tprop = actor->GetTextProperty(); vtkSmartPointer<vtkTextProperty> tprop = actor->GetTextProperty();
tprop->SetFontSize(font_size); tprop->SetFontSize(font_size);
tprop->SetFontFamilyToArial(); tprop->SetFontFamilyToCourier();
tprop->SetJustificationToLeft(); tprop->SetJustificationToLeft();
tprop->BoldOn(); tprop->BoldOn();

3
modules/viz/src/viz3d.cpp
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@ -136,8 +136,7 @@ cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName()
void cv::viz::Viz3d::saveScreenshot(const String &file) { impl_->saveScreenshot(file); } void cv::viz::Viz3d::saveScreenshot(const String &file) { impl_->saveScreenshot(file); }
void cv::viz::Viz3d::setWindowPosition(const Point& window_position) { impl_->setWindowPosition(window_position); } void cv::viz::Viz3d::setWindowPosition(const Point& window_position) { impl_->setWindowPosition(window_position); }
void cv::viz::Viz3d::setFullScreen(bool mode) { impl_->setFullScreen(mode); } void cv::viz::Viz3d::setFullScreen(bool mode) { impl_->setFullScreen(mode); }
void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); } void cv::viz::Viz3d::setBackgroundColor(const Color& color, const Color& color2) { impl_->setBackgroundColor(color, color2); }
void cv::viz::Viz3d::setBackgroundGradient(const Color& up, const Color& down) { impl_->setBackgroundGradient(up, down); }
void cv::viz::Viz3d::setBackgroundTexture(InputArray image) { impl_->setBackgroundTexture(image); } void cv::viz::Viz3d::setBackgroundTexture(InputArray image) { impl_->setBackgroundTexture(image); }
void cv::viz::Viz3d::setBackgroundMeshLab() {impl_->setBackgroundMeshLab(); } void cv::viz::Viz3d::setBackgroundMeshLab() {impl_->setBackgroundMeshLab(); }

30
modules/viz/src/vizimpl.cpp
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@ -143,10 +143,9 @@ void cv::viz::Viz3d::VizImpl::spinOnce(int time, bool force_redraw)
if (force_redraw) if (force_redraw)
local->Render(); local->Render();
timer_callback_->timer_id = local->CreateOneShotTimer(std::max(1, time)); timer_callback_->timer_id = local->CreateRepeatingTimer(std::max(1, time));
local->Start(); local->Start();
local->DestroyTimer(timer_callback_->timer_id); local->DestroyTimer(timer_callback_->timer_id);
} }
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
@ -295,23 +294,26 @@ bool cv::viz::Viz3d::VizImpl::removeActorFromRenderer(vtkSmartPointer<vtkProp> a
} }
////////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color) void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color, const Color& color2)
{ {
Color c = vtkcolor(color); Color c = vtkcolor(color), c2 = vtkcolor(color2);
renderer_->SetBackground(c.val); bool gradient = color2[0] >= 0 && color2[1] >= 0 && color2[2] >= 0;
renderer_->GradientBackgroundOff();
}
void cv::viz::Viz3d::VizImpl::setBackgroundGradient(const Color& up, const Color& down) if (gradient)
{ {
Color vtkup = vtkcolor(up), vtkdown = vtkcolor(down); renderer_->SetBackground(c2.val);
renderer_->SetBackground(vtkdown.val); renderer_->SetBackground2(c.val);
renderer_->SetBackground2(vtkup.val); renderer_->GradientBackgroundOn();
renderer_->GradientBackgroundOn(); }
else
{
renderer_->SetBackground(c.val);
renderer_->GradientBackgroundOff();
}
} }
void cv::viz::Viz3d::VizImpl::setBackgroundMeshLab() void cv::viz::Viz3d::VizImpl::setBackgroundMeshLab()
{ setBackgroundGradient(Color(2, 1, 1), Color(240, 120, 120)); } { setBackgroundColor(Color(2, 1, 1), Color(240, 120, 120)); }
////////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setBackgroundTexture(InputArray image) void cv::viz::Viz3d::VizImpl::setBackgroundTexture(InputArray image)

3
modules/viz/src/vizimpl.hpp
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@ -95,8 +95,7 @@ public:
void setWindowSize(const Size& window_size); void setWindowSize(const Size& window_size);
void setFullScreen(bool mode); void setFullScreen(bool mode);
String getWindowName() const; String getWindowName() const;
void setBackgroundColor(const Color& color); void setBackgroundColor(const Color& color, const Color& color2);
void setBackgroundGradient(const Color& up, const Color& down);
void setBackgroundTexture(InputArray image); void setBackgroundTexture(InputArray image);
void setBackgroundMeshLab(); void setBackgroundMeshLab();

3
modules/viz/test/test_viz3d.cpp
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@ -43,7 +43,7 @@
using namespace cv; using namespace cv;
TEST(Viz_viz3d, develop) TEST(Viz_viz3d, DISABLED_develop)
{ {
cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path()); cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
@ -59,5 +59,6 @@ TEST(Viz_viz3d, develop)
//cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path()); //cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
//---->>>>> </to_test_in_future> //---->>>>> </to_test_in_future>
viz.spin(); viz.spin();
} }

25
modules/viz/test/tests_simple.cpp
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@ -54,6 +54,8 @@ TEST(Viz, show_cloud_bluberry)
Viz3d viz("show_cloud_bluberry"); Viz3d viz("show_cloud_bluberry");
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose); viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -70,6 +72,7 @@ TEST(Viz, show_cloud_random_color)
viz.setBackgroundMeshLab(); viz.setBackgroundMeshLab();
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose); viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -87,6 +90,7 @@ TEST(Viz, show_cloud_masked)
Viz3d viz("show_cloud_masked"); Viz3d viz("show_cloud_masked");
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("dragon", WCloud(dragon_cloud), pose); viz.showWidget("dragon", WCloud(dragon_cloud), pose);
viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -100,8 +104,10 @@ TEST(Viz, show_cloud_collection)
ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0))); ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0)));
Viz3d viz("show_cloud_collection"); Viz3d viz("show_cloud_collection");
viz.setBackgroundColor(Color::mlab());
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("ccol", ccol); viz.showWidget("ccol", ccol);
viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -116,6 +122,7 @@ TEST(Viz, show_painted_clouds)
viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0))); viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0)));
viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red())); viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry())); viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -128,6 +135,7 @@ TEST(Viz, show_mesh)
Viz3d viz("show_mesh"); Viz3d viz("show_mesh");
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("mesh", WMesh(mesh), pose); viz.showWidget("mesh", WMesh(mesh), pose);
viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -142,6 +150,7 @@ TEST(Viz, show_mesh_random_colors)
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("mesh", WMesh(mesh), pose); viz.showWidget("mesh", WMesh(mesh), pose);
viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG); viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -178,6 +187,7 @@ TEST(Viz, show_textured_mesh)
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("mesh", WMesh(mesh)); viz.showWidget("mesh", WMesh(mesh));
viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG); viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -190,6 +200,7 @@ TEST(Viz, show_polyline)
Viz3d viz("show_polyline"); Viz3d viz("show_polyline");
viz.showWidget("polyline", WPolyLine(Mat(polyline), Color::apricot())); viz.showWidget("polyline", WPolyLine(Mat(polyline), Color::apricot()));
viz.showWidget("coosys", WCoordinateSystem()); viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -204,6 +215,7 @@ TEST(Viz, show_sampled_normals)
viz.showWidget("mesh", WMesh(mesh), pose); viz.showWidget("mesh", WMesh(mesh), pose);
viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose); viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
viz.setRenderingProperty("normals", LINE_WIDTH, 2.0); viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -227,6 +239,7 @@ TEST(Viz, show_trajectories)
viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green())); viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green()));
viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow())); viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow()));
viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15)); viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15));
viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green()));
int i = 0; int i = 0;
while(!viz.wasStopped()) while(!viz.wasStopped())
@ -236,6 +249,7 @@ TEST(Viz, show_trajectories)
viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0))); viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
viz.spinOnce(20, true); viz.spinOnce(20, true);
} }
viz.resetCamera();
viz.spin(); viz.spin();
} }
@ -246,6 +260,7 @@ TEST(Viz, show_trajectory_reposition)
Viz3d viz("show_trajectory_reposition_to_origin"); Viz3d viz("show_trajectory_reposition_to_origin");
viz.showWidget("coos", WCoordinateSystem()); viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv()); viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -269,6 +284,7 @@ TEST(Viz, show_camera_positions)
viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]); viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]);
viz.showWidget("pos3", WCameraPosition(0.75), poses[1]); viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]); viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green()));
viz.spin(); viz.spin();
} }
@ -289,6 +305,7 @@ TEST(Viz, show_overlay_image)
viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize))); viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize)));
viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize))); viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize)));
viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize))); viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize)));
viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green()));
int i = 0; int i = 0;
while(!viz.wasStopped()) while(!viz.wasStopped())
@ -299,7 +316,6 @@ TEST(Viz, show_overlay_image)
viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0)); viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
viz.spinOnce(1, true); viz.spinOnce(1, true);
} }
viz.spin();
} }
@ -332,6 +348,8 @@ TEST(Viz, show_image_3d)
viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry())); viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green()));
int i = 0; int i = 0;
while(!viz.wasStopped()) while(!viz.wasStopped())
{ {
@ -357,7 +375,7 @@ TEST(Viz, show_simple_widgets)
viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure())); viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure()));
viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise())); viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
viz.showWidget("text2d", WText("Simple text", Point(20, 20), 20, Color::green())); viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green()));
viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5, 0.5, 0.5), 0.125, false, Color::green())); viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5, 0.5, 0.5), 0.125, false, Color::green()));
viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75))); viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
@ -366,7 +384,7 @@ TEST(Viz, show_simple_widgets)
viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0))); viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
viz.spin(); viz.spin();
viz.getWidget("text2d").cast<WText>().setText("New simple text"); viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)");
viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D"); viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
viz.spin(); viz.spin();
} }
@ -378,6 +396,7 @@ TEST(Viz, show_follower)
viz.showWidget("coos", WCoordinateSystem()); viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("cube", WCube()); viz.showWidget("cube", WCube());
viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true, Color::green())); viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true, Color::green()));
viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green()));
viz.setBackgroundMeshLab(); viz.setBackgroundMeshLab();
viz.spin(); viz.spin();
viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D"); viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");

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