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Merge pull request #14 from ozantonkal/implementing_widgets

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Implementing widgets
This commit is contained in:
Anatoly Baksheev 2013-07-08 12:52:18 -07:00
commit 061c28cde0
8 changed files with 449 additions and 30 deletions
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4
modules/viz/include/opencv2/viz/viz3d.hpp
View File

@ -48,6 +48,10 @@ namespace temp_viz
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
bool removeWidget(const String &id);
bool setWidgetPose(const String &id, const Affine3f &pose);
bool updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const;
private:
Viz3d(const Viz3d&);
Viz3d& operator=(const Viz3d&);

19
modules/viz/include/opencv2/viz/widgets.hpp
View File

@ -81,7 +81,7 @@ namespace temp_viz
class CV_EXPORTS CubeWidget : public Widget
{
public:
CubeWidget(const Point3f& pt_min, const Point3f& pt_max, const Color &color = Color::white());
CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
};
class CV_EXPORTS CoordinateSystemWidget : public Widget
@ -97,4 +97,21 @@ namespace temp_viz
// TODO Overload setColor method, and hide setPose, updatePose, getPose methods
};
class CV_EXPORTS CloudWidget : public Widget
{
public:
CloudWidget(InputArray _cloud, InputArray _colors);
CloudWidget(InputArray _cloud, const Color &color = Color::white());
private:
struct CreateCloudWidget;
};
class CV_EXPORTS CloudNormalsWidget : public Widget
{
public:
CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
private:
struct ApplyCloudNormals;
};
}

4
modules/viz/src/q/viz3d_impl.hpp
View File

@ -202,6 +202,10 @@ public:
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
bool removeWidget(const String &id);
bool setWidgetPose(const String &id, const Affine3f &pose);
bool updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const;
void all_data();
private:

330
modules/viz/src/simple_widgets.cpp
View File

@ -1,5 +1,10 @@
#include "precomp.hpp"
namespace temp_viz
{
template<typename _Tp> Vec<_Tp, 3>* vtkpoints_data(vtkSmartPointer<vtkPoints>& points);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// line widget implementation
temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
@ -12,7 +17,7 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(line->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -20,13 +25,13 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
void temp_viz::LineWidget::setLineWidth(float line_width)
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->GetProperty()->SetLineWidth(line_width);
}
float temp_viz::LineWidget::getLineWidth()
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
return actor->GetProperty()->GetLineWidth();
}
@ -43,7 +48,7 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
actor->SetScale(size);
@ -64,7 +69,7 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
actor->SetScale(size);
@ -87,7 +92,7 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(sphere->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -149,7 +154,7 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(transformPD->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -178,7 +183,7 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tf->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -202,7 +207,7 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tuber->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
@ -211,7 +216,7 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation
temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, const Color &color)
temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
{
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
@ -219,9 +224,12 @@ temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, c
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(cube->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
if (wire_frame)
actor->GetProperty ()->SetRepresentationToWireframe ();
setColor(color);
}
@ -256,7 +264,7 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
mapper->SetScalarModeToUsePointData ();
mapper->SetInput(axes_tubes->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
cv::Vec3d t = affine.translation();
@ -274,9 +282,12 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// text widget implementation
temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) : Widget(true)
{
vtkSmartPointer<vtkTextActor> actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetPosition (pos.x, pos.y);
actor->SetInput (text.c_str ());
@ -289,3 +300,296 @@ temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int fon
Color c = vtkcolor(color);
tprop->SetColor (c.val);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// point cloud widget implementation
struct temp_viz::CloudWidget::CreateCloudWidget
{
static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points)
{
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New ();
polydata->SetVerts (vertices);
vtkSmartPointer<vtkPoints> points = polydata->GetPoints();
vtkSmartPointer<vtkIdTypeArray> initcells;
nr_points = cloud.total();
points = polydata->GetPoints ();
if (!points)
{
points = vtkSmartPointer<vtkPoints>::New ();
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble();
polydata->SetPoints (points);
}
points->SetNumberOfPoints (nr_points);
if (cloud.depth() == CV_32F)
{
// Get a pointer to the beginning of the data array
Vec3f *data_beg = vtkpoints_data<float>(points);
Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
nr_points = data_end - data_beg;
}
else if (cloud.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data_beg = vtkpoints_data<double>(points);
Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
nr_points = data_end - data_beg;
}
points->SetNumberOfPoints (nr_points);
// Update cells
vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
// If no init cells and cells has not been initialized...
if (!cells)
cells = vtkSmartPointer<vtkIdTypeArray>::New ();
// If we have less values then we need to recreate the array
if (cells->GetNumberOfTuples () < nr_points)
{
cells = vtkSmartPointer<vtkIdTypeArray>::New ();
// If init cells is given, and there's enough data in it, use it
if (initcells && initcells->GetNumberOfTuples () >= nr_points)
{
cells->DeepCopy (initcells);
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
}
else
{
// If the number of tuples is still too small, we need to recreate the array
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
vtkIdType *cell = cells->GetPointer (0);
// Fill it with 1s
std::fill_n (cell, nr_points * 2, 1);
cell++;
for (vtkIdType i = 0; i < nr_points; ++i, cell += 2)
*cell = i;
// Save the results in initcells
initcells = vtkSmartPointer<vtkIdTypeArray>::New ();
initcells->DeepCopy (cells);
}
}
else
{
// The assumption here is that the current set of cells has more data than needed
cells->SetNumberOfComponents (2);
cells->SetNumberOfTuples (nr_points);
}
// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
return polydata;
}
};
temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
{
Mat cloud = _cloud.getMat();
Mat colors = _colors.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
// Filter colors
Vec3b* colors_data = new Vec3b[nr_points];
NanFilter::copy(colors, colors_data, cloud);
vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);
scalars->SetNumberOfTuples (nr_points);
scalars->SetArray (colors_data->val, 3 * nr_points, 0);
// Assign the colors
polydata->GetPointData ()->SetScalars (scalars);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput (polydata);
cv::Vec3d minmax(scalars->GetRange());
mapper->SetScalarRange(minmax.val);
mapper->SetScalarModeToUsePointData ();
bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
mapper->SetInterpolateScalarsBeforeMapping (interpolation);
mapper->ScalarVisibilityOn ();
mapper->ImmediateModeRenderingOff ();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
actor->GetProperty ()->SetInterpolationToFlat ();
actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper);
}
temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
{
Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput (polydata);
bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
mapper->SetInterpolateScalarsBeforeMapping (interpolation);
mapper->ScalarVisibilityOff ();
mapper->ImmediateModeRenderingOff ();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
actor->GetProperty ()->SetInterpolationToFlat ();
actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper);
setColor(color);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// cloud normals widget implementation
struct temp_viz::CloudNormalsWidget::ApplyCloudNormals
{
template<typename _Tp>
struct Impl
{
static vtkSmartPointer<vtkCellArray> applyOrganized(const cv::Mat &cloud, const cv::Mat& normals,
int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
{
vtkIdType point_step = static_cast<vtkIdType> (sqrt (double (level)));
nr_normals = (static_cast<vtkIdType> ((cloud.cols - 1)/ point_step) + 1) *
(static_cast<vtkIdType> ((cloud.rows - 1) / point_step) + 1);
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
pts = new _Tp[2 * nr_normals * 3];
int cch = cloud.channels();
vtkIdType cell_count = 0;
for (vtkIdType y = 0; y < cloud.rows; y += point_step)
{
const _Tp *prow = cloud.ptr<_Tp>(y);
const _Tp *nrow = normals.ptr<_Tp>(y);
for (vtkIdType x = 0; x < cloud.cols; x += point_step * cch)
{
pts[2 * cell_count * 3 + 0] = prow[x];
pts[2 * cell_count * 3 + 1] = prow[x+1];
pts[2 * cell_count * 3 + 2] = prow[x+2];
pts[2 * cell_count * 3 + 3] = prow[x] + nrow[x] * scale;
pts[2 * cell_count * 3 + 4] = prow[x+1] + nrow[x+1] * scale;
pts[2 * cell_count * 3 + 5] = prow[x+2] + nrow[x+2] * scale;
lines->InsertNextCell (2);
lines->InsertCellPoint (2 * cell_count);
lines->InsertCellPoint (2 * cell_count + 1);
cell_count++;
}
}
return lines;
}
static vtkSmartPointer<vtkCellArray> applyUnorganized(const cv::Mat &cloud, const cv::Mat& normals,
int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
{
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
nr_normals = (cloud.size().area() - 1) / level + 1 ;
pts = new _Tp[2 * nr_normals * 3];
int cch = cloud.channels();
const _Tp *p = cloud.ptr<_Tp>();
const _Tp *n = normals.ptr<_Tp>();
for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level * cch)
{
pts[2 * j * 3 + 0] = p[i];
pts[2 * j * 3 + 1] = p[i+1];
pts[2 * j * 3 + 2] = p[i+2];
pts[2 * j * 3 + 3] = p[i] + n[i] * scale;
pts[2 * j * 3 + 4] = p[i+1] + n[i+1] * scale;
pts[2 * j * 3 + 5] = p[i+2] + n[i+2] * scale;
lines->InsertNextCell (2);
lines->InsertCellPoint (2 * j);
lines->InsertCellPoint (2 * j + 1);
}
return lines;
}
};
template<typename _Tp>
static inline vtkSmartPointer<vtkCellArray> apply(const cv::Mat &cloud, const cv::Mat& normals,
int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
{
if (cloud.cols > 1 && cloud.rows > 1)
return ApplyCloudNormals::Impl<_Tp>::applyOrganized(cloud, normals, level, scale, pts, nr_normals);
else
return ApplyCloudNormals::Impl<_Tp>::applyUnorganized(cloud, normals, level, scale, pts, nr_normals);
}
};
temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color)
{
Mat cloud = _cloud.getMat();
Mat normals = _normals.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type());
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
vtkIdType nr_normals = 0;
if (cloud.depth() == CV_32F)
{
points->SetDataTypeToFloat();
vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
data->SetNumberOfComponents (3);
float* pts = 0;
lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals);
data->SetArray (&pts[0], 2 * nr_normals * 3, 0);
points->SetData (data);
}
else
{
points->SetDataTypeToDouble();
vtkSmartPointer<vtkDoubleArray> data = vtkSmartPointer<vtkDoubleArray>::New ();
data->SetNumberOfComponents (3);
double* pts = 0;
lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals);
data->SetArray (&pts[0], 2 * nr_normals * 3, 0);
points->SetData (data);
}
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
polyData->SetPoints (points);
polyData->SetLines (lines);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput (polyData);
mapper->SetColorModeToMapScalars();
mapper->SetScalarModeToUsePointData();
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
}

15
modules/viz/src/viz3d.cpp
View File

@ -88,3 +88,18 @@ bool temp_viz::Viz3d::removeWidget(const String &id)
{
return impl_->removeWidget(id);
}
bool temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
{
return impl_->setWidgetPose(id, pose);
}
bool temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
{
return impl_->updateWidgetPose(id, pose);
}
temp_viz::Affine3f temp_viz::Viz3d::getWidgetPose(const String &id) const
{
return impl_->getWidgetPose(id);
}

66
modules/viz/src/viz3d_impl.cpp
View File

@ -874,7 +874,7 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
removeActorFromRenderer(wam_itr->second.actor);
}
// Get the actor and set the user matrix
vtkSmartPointer<vtkLODActor> actor;
vtkLODActor *actor;
if (actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(widget)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
@ -889,9 +889,7 @@ bool temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
if (!exists)
return std::cout << "[removeWidget] A widget with id <" << id << "> does not exist!" << std::endl, false;
CV_Assert(exists);
if (!removeActorFromRenderer (wam_itr->second.actor))
return false;
@ -899,3 +897,63 @@ bool temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
widget_actor_map_->erase(wam_itr);
return true;
}
bool temp_viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists);
vtkLODActor *actor;
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
return true;
}
return false;
}
bool temp_viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists);
vtkLODActor *actor;
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setWidgetPose(id, pose);
return true;
}
Matx44f matrix_cv = convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = convertToVtkMatrix(updated_pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
return true;
}
return false;
}
temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
{
WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists);
vtkLODActor *actor;
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);
}
return Affine3f();
}

8
modules/viz/src/widget.cpp
View File

@ -18,7 +18,7 @@ public:
void setColor(const Color& color)
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
Color c = vtkcolor(color);
lod_actor->GetMapper ()->ScalarVisibilityOff ();
lod_actor->GetProperty ()->SetColor (c.val);
@ -32,7 +32,7 @@ public:
void setPose(const Affine3f& pose)
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
lod_actor->SetUserMatrix (matrix);
lod_actor->Modified ();
@ -40,7 +40,7 @@ public:
void updatePose(const Affine3f& pose)
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
if (!matrix)
{
@ -58,7 +58,7 @@ public:
Affine3f getPose() const
{
vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);

31
modules/viz/test/test_viz3d.cpp
View File

@ -96,26 +96,38 @@ TEST(Viz_viz3d, accuracy)
temp_viz::ArrowWidget aw(cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
temp_viz::CircleWidget cw(cv::Point3f(0,0,0), 0.5, 0.01, temp_viz::Color(0,255,0));
temp_viz::CylinderWidget cyw(cv::Point3f(0,0,0), cv::Point3f(-1,-1,-1), 0.5, 30, temp_viz::Color(0,255,0));
temp_viz::CubeWidget cuw(cv::Point3f(-2,-2,-2), cv::Point3f(-1,-1,-1), temp_viz::Color(0,0,255));
temp_viz::CubeWidget cuw(cv::Point3f(-2,-2,-2), cv::Point3f(-1,-1,-1));
temp_viz::CoordinateSystemWidget csw(1.0f, cv::Affine3f::Identity());
temp_viz::TextWidget tw("TEST", cv::Point2i(100,100), 20);
temp_viz::CloudWidget pcw(cloud, colors);
temp_viz::CloudWidget pcw2(cloud, temp_viz::Color(0,255,255));
// v.showWidget("line", lw);
v.showWidget("plane", pw);
// v.showWidget("plane", pw);
// v.showWidget("sphere", sw);
// v.showWidget("arrow", aw);
// v.showWidget("circle", cw);
// v.showWidget("cylinder", cyw);
// v.showWidget("cube", cuw);
v.showWidget("coordinateSystem", csw);
v.showWidget("text",tw);
// v.showWidget("text",tw);
// v.showWidget("pcw",pcw);
v.showWidget("pcw2",pcw2);
temp_viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
temp_viz::CloudNormalsWidget cnw(cloud, normals);
v.showWidget("n", cnw);
while(!v.wasStopped())
{
// Creating new point cloud with id cloud1
cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2));
lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
lw.setLineWidth(lw.getLineWidth()+pos_x * 10);
@ -129,8 +141,15 @@ TEST(Viz_viz3d, accuracy)
cyw.setPose(cloudPosition);
lw.setPose(cloudPosition);
cuw.setPose(cloudPosition);
// cnw.setPose(cloudPosition);
// v.showWidget("pcw",pcw, cloudPosition);
// v.showWidget("pcw2",pcw2, cloudPosition2);
// v.showWidget("plane", pw, cloudPosition);
v.showWidget("plane", pw, cloudPosition);
v.setWidgetPose("n",cloudPosition);
v.setWidgetPose("pcw2", cloudPosition);
cnw.setColor(temp_viz::Color(col_blue, col_green, col_red));
pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
angle_x += 0.1f;
angle_y -= 0.1f;
@ -145,9 +164,7 @@ TEST(Viz_viz3d, accuracy)
v.spinOnce(1, true);
}
// cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
//
// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
//
//
// temp_viz::ModelCoefficients mc;