mirror of https://github.com/opencv/opencv.git
Anatoly Baksheev
12 years ago
parent
daa2a205a4
commit
efa7f09048
12 changed files with 195 additions and 180 deletions
@ -1,3 +1,6 @@ |
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#pragma once |
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#include <opencv2/viz/types.hpp> |
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#include <opencv2/viz/widgets.hpp> |
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#include <opencv2/viz/viz3d.hpp> |
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@ -1,11 +1,15 @@ |
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#pragma once |
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#include <opencv2/viz/types.hpp> |
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#include <opencv2/viz/widgets.hpp> |
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#include <vtkSmartPointer.h> |
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#include <vtkLODActor.h> |
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namespace temp_viz |
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{ |
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struct WidgetAccessor |
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//The class is only that depends on VTK in its interface.
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//It is indended for those user who want to develop own widgets system using VTK library API.
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struct CV_EXPORTS WidgetAccessor |
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{ |
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static CV_EXPORTS vtkSmartPointer<vtkLODActor> getActor(const Widget &widget); |
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static vtkSmartPointer<vtkLODActor> getActor(const Widget &widget); |
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}; |
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} |
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} |
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@ -0,0 +1,38 @@ |
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#pragma once |
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#include <opencv2/viz/types.hpp> |
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namespace temp_viz |
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{ |
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/////////////////////////////////////////////////////////////////////////////
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/// brief The base class for all widgets
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class CV_EXPORTS Widget |
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{ |
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public: |
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Widget(); |
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Widget(const Widget &other); |
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Widget& operator =(const Widget &other); |
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void copyTo(Widget &dst); |
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void setColor(const Color &color); |
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void setPose(const Affine3f &pose); |
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void updatePose(const Affine3f &pose); |
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Affine3f getPose() const; |
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private: |
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class Impl; |
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cv::Ptr<Impl> impl_; |
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friend struct WidgetAccessor; |
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}; |
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class CV_EXPORTS LineWidget : public Widget |
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{ |
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public: |
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LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()); |
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}; |
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} |
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@ -0,0 +1,18 @@ |
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#include "precomp.hpp" |
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temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color) |
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{ |
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vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New(); |
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line->SetPoint1 (pt1.x, pt1.y, pt1.z); |
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line->SetPoint2 (pt2.x, pt2.y, pt2.z); |
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line->Update (); |
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vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); |
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mapper->SetInput(line->GetOutput ()); |
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vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this); |
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actor->SetMapper(mapper); |
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setColor(color); |
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} |
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@ -0,0 +1,110 @@ |
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#include "precomp.hpp" |
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class temp_viz::Widget::Impl |
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{ |
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public: |
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vtkSmartPointer<vtkLODActor> actor; |
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Impl() : actor(vtkSmartPointer<vtkLODActor>::New()) {} |
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void setColor(const Color& color) |
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{ |
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Color c = vtkcolor(color); |
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actor->GetMapper ()->ScalarVisibilityOff (); |
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actor->GetProperty ()->SetColor (c.val); |
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actor->GetProperty ()->SetEdgeColor (c.val); |
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actor->GetProperty ()->SetAmbient (0.8); |
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actor->GetProperty ()->SetDiffuse (0.8); |
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actor->GetProperty ()->SetSpecular (0.8); |
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actor->GetProperty ()->SetLighting (0); |
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actor->Modified (); |
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} |
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void setPose(const Affine3f& pose) |
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{ |
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vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix); |
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actor->SetUserMatrix (matrix); |
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actor->Modified (); |
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} |
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void updatePose(const Affine3f& pose) |
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{ |
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vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); |
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Matx44f matrix_cv = convertToMatx(matrix); |
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Affine3f updated_pose = pose * Affine3f(matrix_cv); |
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matrix = convertToVtkMatrix(updated_pose.matrix); |
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actor->SetUserMatrix (matrix); |
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actor->Modified (); |
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} |
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Affine3f getPose() const |
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{ |
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vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); |
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Matx44f matrix_cv = convertToMatx(matrix); |
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return Affine3f(matrix_cv); |
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} |
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protected: |
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static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m) |
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{ |
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vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New (); |
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for (int i = 0; i < 4; i++) |
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for (int k = 0; k < 4; k++) |
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vtk_matrix->SetElement(i, k, m(i, k)); |
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return vtk_matrix; |
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} |
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static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix) |
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{ |
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cv::Matx44f m; |
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for (int i = 0; i < 4; i++) |
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for (int k = 0; k < 4; k++) |
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m(i, k) = vtk_matrix->GetElement (i, k); |
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return m; |
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} |
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}; |
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// stream accessor implementaion
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vtkSmartPointer<vtkLODActor> temp_viz::WidgetAccessor::getActor(const Widget& widget) |
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{ |
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return widget.impl_->actor; |
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} |
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// widget implementaion
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temp_viz::Widget::Widget() |
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{ |
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impl_ = new Impl(); |
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} |
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temp_viz::Widget::Widget(const Widget& other) |
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{ |
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impl_ = other.impl_; |
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} |
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temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other) |
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{ |
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if (this != &other) |
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impl_ = other.impl_; |
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return *this; |
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} |
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void temp_viz::Widget::copyTo(Widget& /*dst*/) |
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{ |
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// TODO Deep copy the data if there is any
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} |
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void temp_viz::Widget::setColor(const Color& color) { impl_->setColor(color); } |
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void temp_viz::Widget::setPose(const Affine3f& pose) { impl_->setPose(pose); } |
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void temp_viz::Widget::updatePose(const Affine3f& pose) { impl_->updatePose(pose); } |
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temp_viz::Affine3f temp_viz::Widget::getPose() const { return impl_->getPose(); } |
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