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refactored spheres trajectory

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This commit is contained in:
Anatoly Baksheev 2014-01-08 16:25:14 +04:00
parent 38c9fa4a92
commit a3b1f29d23
3 changed files with 49 additions and 64 deletions
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18
modules/viz/doc/widget.rst
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@ -799,23 +799,21 @@ represent the direction from previous position to the current. ::
class CV_EXPORTS WTrajectorySpheres : public Widget3D
{
public:
WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f,
double init_sphere_radius = 0.021, sphere_radius = 0.007,
Color &line_color = Color::white(), const Color &sphere_color = Color::white());
WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007,
const Color &from = Color::red(), const Color &to = Color::white());
};
viz::WTrajectorySpheres::WTrajectorySpheres
-------------------------------------------
Constructs a WTrajectorySpheres.
.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f, double init_sphere_radius = 0.021, double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
.. ocv:function:: WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007, const Color &from = Color::red(), const Color &to = Color::white());
:param path: List of poses on a trajectory.
:param line_length: Length of the lines.
:param init_sphere_radius: Radius of the first sphere which represents the initial position of the camera.
:param sphere_radius: Radius of the rest of the spheres.
:param line_color: :ocv:class:`Color` of the lines.
:param sphere_color: :ocv:class:`Color` of the spheres.
:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
:param line_length: Max length of the lines which point to previous position
:param sphere_radius: Radius of the spheres.
:param from: :ocv:class:`Color` for first sphere.
:param to: :ocv:class:`Color` for last sphere. Intermediate spheres will have interpolated color.
viz::WCloud
-----------

4
modules/viz/include/opencv2/viz/widgets.hpp
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@ -279,8 +279,8 @@ namespace cv
class CV_EXPORTS WTrajectorySpheres: public Widget3D
{
public:
WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05, double init_sphere_radius = 0.021,
double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007,
const Color &from = Color::red(), const Color &to = Color::white());
};
/////////////////////////////////////////////////////////////////////////////

91
modules/viz/src/shapes.cpp
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@ -1155,71 +1155,58 @@ template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast<cv::viz::WTrajecto
///////////////////////////////////////////////////////////////////////////////////////////////
/// WTrajectorySpheres widget implementation
cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length, double init_sphere_radius, double sphere_radius,
const Color &line_color, const Color &sphere_color)
cv::viz::WTrajectorySpheres::WTrajectorySpheres(InputArray _path, double line_length, double radius, const Color &from, const Color &to)
{
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
vtkIdType nr_poses = path.size();
CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT);
CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16));
// Create color arrays
vtkSmartPointer<vtkUnsignedCharArray> line_scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
line_scalars->SetNumberOfComponents(3);
line_scalars->InsertNextTuple3(line_color[2], line_color[1], line_color[0]);
Mat path64;
_path.getMat().convertTo(path64, CV_64F);
Affine3d *traj = path64.ptr<Affine3d>();
size_t total = path64.total();
// Create color array for sphere
vtkSmartPointer<vtkSphereSource> dummy_sphere = vtkSmartPointer<vtkSphereSource>::New();
// Create the array for big sphere
dummy_sphere->SetRadius(init_sphere_radius);
dummy_sphere->Update();
vtkIdType nr_points = dummy_sphere->GetOutput()->GetNumberOfCells();
vtkSmartPointer<vtkUnsignedCharArray> sphere_scalars_init = VtkUtils::FillScalars(nr_points, sphere_color);
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
// Create the array for small sphere
dummy_sphere->SetRadius(sphere_radius);
dummy_sphere->Update();
nr_points = dummy_sphere->GetOutput()->GetNumberOfCells();
vtkSmartPointer<vtkUnsignedCharArray> sphere_scalars = VtkUtils::FillScalars(nr_points, sphere_color);
for (vtkIdType i = 0; i < nr_poses; ++i)
for(size_t i = 0; i < total; ++i)
{
Point3f new_pos = path[i].translation();
Vec3d curr = traj[i].translation();
vtkSmartPointer<vtkSphereSource> sphere_source = vtkSmartPointer<vtkSphereSource>::New();
sphere_source->SetCenter(new_pos.x, new_pos.y, new_pos.z);
if (i == 0)
sphere_source->SetCenter(curr.val);
sphere_source->SetRadius( (i == 0) ? 2 * radius : radius );
sphere_source->Update();
double alpha = static_cast<double>(i)/total;
Color c = from * (1 - alpha) + to * alpha;
vtkSmartPointer<vtkPolyData> polydata = sphere_source->GetOutput();
polydata->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata->GetNumberOfCells(), c));
append_filter->AddInputConnection(polydata->GetProducerPort());
if (i > 0)
{
sphere_source->SetRadius(init_sphere_radius);
sphere_source->Update();
sphere_source->GetOutput()->GetCellData()->SetScalars(sphere_scalars_init);
appendFilter->AddInputConnection(sphere_source->GetOutputPort());
continue;
Vec3d prev = traj[i-1].translation();
Vec3d lvec = prev - curr;
if(norm(lvec) > line_length)
lvec = normalize(lvec) * line_length;
Vec3d lend = curr + lvec;
vtkSmartPointer<vtkLineSource> line_source = vtkSmartPointer<vtkLineSource>::New();
line_source->SetPoint1(curr.val);
line_source->SetPoint2(lend.val);
line_source->Update();
vtkSmartPointer<vtkPolyData> polydata = line_source->GetOutput();
polydata->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata->GetNumberOfCells(), c));
append_filter->AddInputConnection(polydata->GetProducerPort());
}
else
{
sphere_source->SetRadius(sphere_radius);
sphere_source->Update();
sphere_source->GetOutput()->GetCellData()->SetScalars(sphere_scalars);
appendFilter->AddInputConnection(sphere_source->GetOutputPort());
}
Affine3d relativeAffine = path[i].inv() * path[i-1];
Vec3d v = path[i].rotation() * relativeAffine.translation();
v = normalize(v) * line_length;
vtkSmartPointer<vtkLineSource> line_source = vtkSmartPointer<vtkLineSource>::New();
line_source->SetPoint1(new_pos.x + v[0], new_pos.y + v[1], new_pos.z + v[2]);
line_source->SetPoint2(new_pos.x, new_pos.y, new_pos.z);
line_source->Update();
line_source->GetOutput()->GetCellData()->SetScalars(line_scalars);
appendFilter->AddInputConnection(line_source->GetOutputPort());
}
append_filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetScalarModeToUseCellData();
mapper->SetInputConnection(appendFilter->GetOutputPort());
VtkUtils::SetInputData(mapper, append_filter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);