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makeCameraPose implementation

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This commit is contained in:
ozantonkal 2013-07-29 12:25:46 +02:00
parent 250dac5b71
commit 42266b04a5
4 changed files with 27 additions and 70 deletions
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2
modules/viz/include/opencv2/viz.hpp
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@ -64,7 +64,7 @@ namespace cv
CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
//! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation
CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& up_vector);
CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);
//! checks float value for Nan

1
modules/viz/include/opencv2/viz/widgets.hpp
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@ -170,7 +170,6 @@ namespace cv
{
public:
CameraPositionWidget(double scale = 1.0);
CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0);
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());

68
modules/viz/src/shape_widgets.cpp
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@ -883,74 +883,6 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(double scale)
WidgetAccessor::setProp(*this, actor);
}
cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3f u,v,n;
n = normalize(look_at - position);
u = normalize(up_vector.cross(n));
v = n.cross(u);
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->SetElement(0,0,u[0]);
mat_trans->SetElement(0,1,u[1]);
mat_trans->SetElement(0,2,u[2]);
mat_trans->SetElement(1,0,v[0]);
mat_trans->SetElement(1,1,v[1]);
mat_trans->SetElement(1,2,v[2]);
mat_trans->SetElement(2,0,n[0]);
mat_trans->SetElement(2,1,n[1]);
mat_trans->SetElement(2,2,n[2]);
// Inverse rotation (orthogonal, so just take transpose)
mat_trans->Transpose();
// Then translate the coordinate frame to camera position
mat_trans->SetElement(0,3,position[0]);
mat_trans->SetElement(1,3,position[1]);
mat_trans->SetElement(2,3,position[2]);
mat_trans->SetElement(3,3,1);
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (1.0);
axes_colors->InsertNextValue (1.0);
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();
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);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetScalarModeToUsePointData ();
mapper->SetInput(axes_tubes->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();

26
modules/viz/src/viz.cpp
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@ -19,6 +19,32 @@ cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& ax
return Affine3f(R, origin);
}
cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
{
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3f u,v,n;
n = normalize(focal_point - position);
u = normalize(y_dir.cross(n));
v = n.cross(u);
Matx44f pose_mat;
pose_mat.zeros();
pose_mat(0,0) = u[0];
pose_mat(0,1) = u[1];
pose_mat(0,2) = u[2];
pose_mat(1,0) = v[0];
pose_mat(1,1) = v[1];
pose_mat(1,2) = v[2];
pose_mat(2,0) = n[0];
pose_mat(2,1) = n[1];
pose_mat(2,2) = n[2];
pose_mat(3,0) = position[0];
pose_mat(3,1) = position[1];
pose_mat(3,2) = position[2];
pose_mat(3,3) = 1.0f;
pose_mat = pose_mat.t();
return pose_mat;
}
vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix (const cv::Matx44f &m)
{