From e21f2a81fff4a21a5bf9ef6a3b71588da24e28d9 Mon Sep 17 00:00:00 2001
From: Anatoly Baksheev <no@email>
Date: Sat, 11 Jan 2014 20:40:10 +0400
Subject: [PATCH] factored camera postions with image
---
modules/viz/doc/widget.rst | 8 +-
modules/viz/include/opencv2/viz/widgets.hpp | 4 +-
modules/viz/src/shapes.cpp | 127 +++++++++-----------
3 files changed, 60 insertions(+), 79 deletions(-)
diff --git a/modules/viz/doc/widget.rst b/modules/viz/doc/widget.rst
index 54b740b0b4..ec4a858e2d 100644
--- a/modules/viz/doc/widget.rst
+++ b/modules/viz/doc/widget.rst
@@ -660,9 +660,9 @@ This 3D Widget represents camera position in a scene by its axes or viewing frus
//! Creates frustum based on the field of view at the origin
WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
- WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+ WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
- WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+ WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white());
};
viz::WCameraPosition::WCameraPosition
@@ -703,7 +703,7 @@ Constructs a WCameraPosition.
- **Display image on the far plane of the viewing frustum.**
- .. ocv:function:: WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
+ .. ocv:function:: WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white())
:param K: Intrinsic matrix of the camera.
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@@ -712,7 +712,7 @@ Constructs a WCameraPosition.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
- .. ocv:function:: WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
+ .. ocv:function:: WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical).
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index 49a0512cc4..44cb500744 100644
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -256,9 +256,9 @@ namespace cv
//! Creates frustum based on the field of view at the origin
WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
- WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+ WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
- WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+ WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
diff --git a/modules/viz/src/shapes.cpp b/modules/viz/src/shapes.cpp
index 3295a52389..2067c5c9e4 100644
--- a/modules/viz/src/shapes.cpp
+++ b/modules/viz/src/shapes.cpp
@@ -777,80 +777,23 @@ namespace cv { namespace viz { namespace
return extract_edges->GetOutput();
}
- static vtkSmartPointer<vtkActor> projectImage(vtkSmartPointer<vtkPolyData> frustum, double far_end_height, const Mat &image, double scale, const Color &color)
+ static Mat ensureColorImage(InputArray image)
{
- Mat color_image = image;
- if (color_image.channels() == 1)
+ Mat color(image.size(), CV_8UC3);
+ if (image.channels() == 1)
{
- color_image.create(image.size(), CV_8UC3);
- Vec3b *drow = color_image.ptr<Vec3b>();
- for(int y = 0; y < image.rows; ++y)
+ Vec3b *drow = color.ptr<Vec3b>();
+ for(int y = 0; y < color.rows; ++y)
{
- const unsigned char *srow = image.ptr<unsigned char>(y);
- const unsigned char *send = srow + image.cols;
+ const unsigned char *srow = image.getMat().ptr<unsigned char>(y);
+ const unsigned char *send = srow + color.cols;
for(;srow < send;)
*drow++ = Vec3b::all(*srow++);
}
}
-
-
- double aspect_ratio = color_image.cols/(double)color_image.rows;
-
- // Create the vtk image
- vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
- source->SetImage(color_image);
- source->Update();
- vtkSmartPointer<vtkImageData> vtk_image = source->GetOutput();
-
- vtk_image->SetScalarComponentFromDouble(0, 0, 0, 0, color[2]);
- vtk_image->SetScalarComponentFromDouble(0, 0, 0, 1, color[1]);
- vtk_image->SetScalarComponentFromDouble(0, 0, 0, 2, color[0]);
-
- Vec3d plane_center(0.0, 0.0, scale);
-
- vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
- plane->SetCenter(plane_center.val);
- plane->SetNormal(0.0, 0.0, 1.0);
-
- vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
- transform->PreMultiply();
- transform->Translate(plane_center.val);
- transform->Scale(far_end_height*aspect_ratio, far_end_height, 1.0);
- transform->RotateY(180.0);
- transform->Translate(-plane_center[0], -plane_center[1], -plane_center[2]);
-
- // Apply the texture
- vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
- texture->SetInputConnection(vtk_image->GetProducerPort());
-
- vtkSmartPointer<vtkTextureMapToPlane> texture_plane = vtkSmartPointer<vtkTextureMapToPlane>::New();
- texture_plane->SetInputConnection(plane->GetOutputPort());
-
- vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
- transform_filter->SetInputConnection(texture_plane->GetOutputPort());
- transform_filter->SetTransform(transform);
-
-
-
- // Frustum needs to be textured or else it can't be combined with image
- vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
- frustum_texture->SetInputConnection(frustum->GetProducerPort());
- // Texture mapping with only one pixel from the image to have constant color
- frustum_texture->SetSRange(0.0, 0.0);
- frustum_texture->SetTRange(0.0, 0.0);
-
- vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
- appendFilter->AddInputConnection(frustum_texture->GetOutputPort());
- appendFilter->AddInputConnection(transform_filter->GetOutputPort());
-
- vtkSmartPointer<vtkPolyDataMapper> planeMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
- planeMapper->SetInputConnection(appendFilter->GetOutputPort());
-
- vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
- actor->SetMapper(planeMapper);
- actor->SetTexture(texture);
-
- return actor;
+ else
+ image.copyTo(color);
+ return color;
}
};
}}}
@@ -904,31 +847,69 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const
setColor(color);
}
-cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, const Mat &image, double scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, InputArray _image, double scale, const Color &color)
{
- CV_Assert(!image.empty() && image.depth() == CV_8U);
+ CV_Assert(!_image.empty() && _image.depth() == CV_8U);
+ Mat image = CameraPositionUtils::ensureColorImage(_image);
+ image.at<Vec3b>(0, 0) = Vec3d(color.val); //workaround of VTK limitation
+
double f_y = K(1,1), c_y = K(1,2);
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
double fovy = 2.0 * atan2(c_y, f_y) * 180.0 / CV_PI;
double far_end_height = 2.00 * c_y * scale / f_y;
double aspect_ratio = image.cols/(double)image.rows;
+ double image_scale = far_end_height/image.rows;
+
+ WImage3D image_widget(image, Size2d(image.size()) * image_scale);
+ image_widget.applyTransform(Affine3d().translate(Vec3d(0, 0, scale)));
+ vtkSmartPointer<vtkPolyData> plane = getPolyData(image_widget);
vtkSmartPointer<vtkPolyData> frustum = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
- vtkSmartPointer<vtkActor> actor = CameraPositionUtils::projectImage(frustum, far_end_height, image, scale, color);
+ // Frustum needs to be textured or else it can't be combined with image
+ vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
+ frustum_texture->SetInputConnection(frustum->GetProducerPort());
+ frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel
+ frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color
+
+ vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+ append_filter->AddInputConnection(frustum_texture->GetOutputPort());
+ append_filter->AddInputConnection(plane->GetProducerPort());
+
+ vtkSmartPointer<vtkActor> actor = getActor(image_widget);
+ actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort());
WidgetAccessor::setProp(*this, actor);
}
-cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, const Mat &image, double scale, const Color &color)
+cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, InputArray _image, double scale, const Color &color)
{
- CV_Assert(!image.empty() && image.depth() == CV_8U);
+ CV_Assert(!_image.empty() && _image.depth() == CV_8U);
+ Mat image = CameraPositionUtils::ensureColorImage(_image);
+ image.at<Vec3b>(0, 0) = Vec3d(color.val); //workaround of VTK limitation
+
double fovy = fov[1] * 180.0 / CV_PI;
double far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
double aspect_ratio = image.cols/(double)image.rows;
+ double image_scale = far_end_height/image.rows;
+
+ WImage3D image_widget(image, Size2d(image.size()) * image_scale);
+ image_widget.applyTransform(Affine3d().translate(Vec3d(0, 0, scale)));
+ vtkSmartPointer<vtkPolyData> plane = getPolyData(image_widget);
vtkSmartPointer<vtkPolyData> frustum = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
- vtkSmartPointer<vtkActor> actor = CameraPositionUtils::projectImage(frustum, far_end_height, image, scale, color);
+ // Frustum needs to be textured or else it can't be combined with image
+ vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
+ frustum_texture->SetInputConnection(frustum->GetProducerPort());
+ frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel
+ frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color
+
+ vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+ append_filter->AddInputConnection(frustum_texture->GetOutputPort());
+ append_filter->AddInputConnection(plane->GetProducerPort());
+
+ vtkSmartPointer<vtkActor> actor = getActor(image_widget);
+ actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort());
WidgetAccessor::setProp(*this, actor);
}