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This commit is contained in:
Anatoly Baksheev 2013-12-08 18:11:19 +04:00
parent 31d42ce18f
commit 4979f44cfa
9 changed files with 40 additions and 166 deletions
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3
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#ifndef __OPENCV_VIZ_VIZ3D_HPP__

5
modules/viz/include/opencv2/viz/widget_accessor.hpp
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@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#ifndef __OPENCV_VIZ_WIDGET_ACCESSOR_HPP__
@ -69,4 +66,4 @@ namespace cv
}
}
#endif
#endif

57
modules/viz/include/opencv2/viz/widgets.hpp
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@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#ifndef __OPENCV_VIZ_WIDGETS_HPP__
@ -178,28 +175,22 @@ namespace cv
WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Compond widgets
class CV_EXPORTS WCoordinateSystem : public Widget3D
{
public:
WCoordinateSystem(float scale = 1.f);
};
class CV_EXPORTS WPolyLine : public Widget3D
{
public:
WPolyLine(InputArray points, const Color &color = Color::white());
};
class CV_EXPORTS WGrid : public Widget3D
/////////////////////////////////////////////////////////////////////////////
/// Text and image widgets
class CV_EXPORTS WText : public Widget2D
{
public:
//! Creates grid at the origin
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation
WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
WText(const String &text, const Point2i &pos, int font_size = 20, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
};
class CV_EXPORTS WText3D : public Widget3D
@ -211,15 +202,6 @@ namespace cv
String getText() const;
};
class CV_EXPORTS WText : public Widget2D
{
public:
WText(const String &text, const Point2i &pos, int font_size = 20, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
};
class CV_EXPORTS WImageOverlay : public Widget2D
{
public:
@ -239,6 +221,24 @@ namespace cv
void setImage(const Mat &image);
};
/////////////////////////////////////////////////////////////////////////////
/// Compond widgets
class CV_EXPORTS WCoordinateSystem : public Widget3D
{
public:
WCoordinateSystem(float scale = 1.f);
};
class CV_EXPORTS WGrid : public Widget3D
{
public:
//! Creates grid at the origin
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation
WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
};
class CV_EXPORTS WCameraPosition : public Widget3D
{
public:
@ -254,6 +254,9 @@ namespace cv
explicit WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Trajectories
class CV_EXPORTS WTrajectory : public Widget3D
{
public:
@ -280,7 +283,7 @@ namespace cv
};
/////////////////////////////////////////////////////////////////////////////
/// Cloud widgets
/// Clouds
class CV_EXPORTS WCloud: public Widget3D
{

3
modules/viz/src/precomp.cpp
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@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#include "precomp.hpp"

3
modules/viz/src/precomp.hpp
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@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#ifndef __OPENCV_VIZ_PRECOMP_HPP__

3
modules/viz/src/viz.cpp
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@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#include "precomp.hpp"

4
modules/viz/src/viz3d_impl.hpp
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@ -73,10 +73,10 @@ public:
double getDesiredUpdateRate();
/** \brief Returns true when the user tried to close the window */
bool wasStopped() const { if (interactor_ != NULL) return (stopped_); else return true; }
bool wasStopped() const { return interactor_ ? stopped_ : true; }
/** \brief Set the stopped flag back to false */
void resetStoppedFlag() { if (interactor_ != NULL) stopped_ = false; }
void resetStoppedFlag() { if (interactor_) stopped_ = false; }
/** \brief Stop the interaction and close the visualizaton window. */
void close()

3
modules/viz/test/test_precomp.hpp
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@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#ifdef __GNUC__

125
modules/viz/test/test_viz3d.cpp
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@ -41,141 +41,30 @@
//M*/
#include "test_precomp.hpp"
using namespace cv;
static cv::Mat cvcloud_load()
{
cv::Mat cloud(1, 20000, CV_32FC3);
std::ifstream ifs("/Users/nerei/cloud_dragon.ply");
std::ifstream ifs("d:/cloud_dragon.ply");
std::string str;
for(size_t i = 0; i < 11; ++i)
std::getline(ifs, str);
cv::Point3f* data = cloud.ptr<cv::Point3f>();
for(size_t i = 0; i < 20000; ++i)
for(size_t i = 0; i < cloud.total(); ++i)
ifs >> data[i].x >> data[i].y >> data[i].z;
return cloud;
}
bool constant_cam = true;
cv::viz::Widget cam_1, cam_coordinates;
void keyboard_callback(const viz::KeyboardEvent & event, void * cookie)
{
if (event.keyDown())
{
if (event.getKeySym() == "space")
{
viz::Viz3d &viz = *((viz::Viz3d *) cookie);
constant_cam = !constant_cam;
if (constant_cam)
{
viz.showWidget("cam_1", cam_1);
viz.showWidget("cam_coordinate", cam_coordinates);
viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
viz.resetCamera();
}
else
{
viz.showWidget("cam_text", viz::WText("Cam View", Point2i(5,5), 28));
viz.removeWidget("cam_1");
viz.removeWidget("cam_coordinate");
}
}
}
}
TEST(Viz_viz3d, develop)
{
cv::Mat cloud = cvcloud_load();
cv::viz::Viz3d viz("abc");
cv::viz::Mesh3d bunny_mesh = cv::viz::Mesh3d::loadMesh("bunny.ply");
cv::viz::WMesh bunny_widget(bunny_mesh);
bunny_widget.setColor(cv::viz::Color::cyan());
cam_1 = cv::viz::WCameraPosition(cv::Vec2f(0.6f, 0.4f), 0.2, cv::viz::Color::green());
cam_coordinates = cv::viz::WCameraPosition(0.2);
viz.showWidget("bunny", bunny_widget);
viz.showWidget("cam_1", cam_1, viz::makeCameraPose(Point3f(1.f,0.f,0.f), Point3f(0.f,0.f,0.f), Point3f(0.f,1.f,0.f)));
viz.showWidget("cam_coordinate", cam_coordinates, viz::makeCameraPose(Point3f(1.f,0.f,0.f), Point3f(0.f,0.f,0.f), Point3f(0.f,1.f,0.f)));
std::vector<Affine3f> cam_path;
for (int i = 0, j = 0; i <= 360; ++i, j+=5)
{
cam_path.push_back(viz::makeCameraPose(Vec3d(0.5*cos(i*CV_PI/180.0), 0.5*sin(j*CV_PI/180.0), 0.5*sin(i*CV_PI/180.0)), Vec3f(0.f, 0.f, 0.f), Vec3f(0.f, 1.f, 0.f)));
}
int path_counter = 0;
int cam_path_size = cam_path.size();
// OTHER WIDGETS
cv::Mat img = imread("opencv.png");
int downSample = 4;
int row_max = img.rows/downSample;
int col_max = img.cols/downSample;
cv::Mat *clouds = new cv::Mat[img.cols/downSample];
cv::Mat *colors = new cv::Mat[img.cols/downSample];
for (int col = 0; col < col_max; ++col)
{
clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3);
colors[col] = Mat::zeros(img.rows/downSample, 1, CV_8UC3);
for (int row = 0; row < row_max; ++row)
{
clouds[col].at<Vec3f>(row) = Vec3f(downSample * float(col) / img.cols, 1.f-(downSample * float(row) / img.rows), 0.f);
colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample);
}
}
for (int col = 0; col < col_max; ++col)
{
std::stringstream strstrm;
strstrm << "cloud_" << col;
viz.showWidget(strstrm.str(), viz::WCloud(clouds[col], colors[col]));
viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0);
viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45);
}
viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow()));
viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
viz.registerKeyboardCallback(keyboard_callback, (void *) &viz);
int angle = 0;
while(!viz.wasStopped())
{
if (path_counter == cam_path_size)
{
path_counter = 0;
}
if (!constant_cam)
{
viz.setViewerPose(cam_path[path_counter]);
}
if (angle == 360) angle = 0;
cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]);
cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]);
for (int i = 0; i < col_max; ++i)
{
std::stringstream strstrm;
strstrm << "cloud_" << i;
viz.setWidgetPose(strstrm.str(), Affine3f().translate(Vec3f(-0.5f, 0.f, (float)(-0.7 + 0.2*sin((angle+i*10)*CV_PI / 180.0)))));
}
angle += 10;
viz.spinOnce(42, true);
}
volatile void* a = (void*)&cvcloud_load; (void)a; //fixing warnings
cv::viz::WCloud c(cloud, cv::Mat(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0)));
//cv::viz::WCloud c(cloud, cv::viz::Color::bluberry());
viz.showWidget("c", c);
viz.spin();
}