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Merge pull request #10833 from csukuangfj:improve-viz3d

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This commit is contained in:
Alexander Alekhin 2018-02-12 09:12:39 +00:00
commit d61528b2d5
11 changed files with 200 additions and 80 deletions
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12
modules/calib3d/src/homography_decomp.cpp
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@ -2,7 +2,7 @@
//
// This is a homography decomposition implementation contributed to OpenCV
// by Samson Yilma. It implements the homography decomposition algorithm
// descriped in the research report:
// described in the research report:
// Malis, E and Vargas, M, "Deeper understanding of the homography decomposition
// for vision-based control", Research Report 6303, INRIA (2007)
//
@ -84,6 +84,16 @@ protected:
}
private:
/**
* Normalize the homograhpy \f$H\f$.
*
* @param H Homography matrix.
* @param K Intrinsic parameter matrix.
* @return It returns
* \f[
* K^{-1} * H * K
* \f]
*/
cv::Matx33d normalize(const cv::Matx33d& H, const cv::Matx33d& K);
void removeScale();
cv::Matx33d _Hnorm;

2
modules/viz/include/opencv2/viz.hpp
View File

@ -64,7 +64,7 @@ methods to interact with scene and widgets.
@defgroup viz_widget Widget
In this section, the widget framework is explained. Widgets represent 2D or 3D objects, varying from
simple ones such as lines to complex one such as point clouds and meshes.
simple ones such as lines to complex ones such as point clouds and meshes.
Widgets are **implicitly shared**. Therefore, one can add a widget to the scene, and modify the
widget without re-adding the widget.

80
modules/viz/include/opencv2/viz/types.hpp
View File

@ -58,12 +58,13 @@ namespace cv
//! @addtogroup viz
//! @{
/** @brief This class a represents BGR color.
/** @brief This class represents color in BGR order.
*/
class Color : public Scalar
{
public:
Color();
//! The three channels will have the same value equal to gray.
Color(double gray);
Color(double blue, double green, double red);
@ -125,13 +126,16 @@ namespace cv
LOAD_OBJ = 2
};
Mat cloud, colors, normals;
Mat cloud; //!< point coordinates of type CV_32FC3 or CV_64FC3 with only 1 row
Mat colors; //!< point color of type CV_8UC3 or CV_8UC4 with only 1 row
Mat normals; //!< point normals of type CV_32FC3, CV_32FC4, CV_64FC3 or CV_64FC4 with only 1 row
//! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...)
//! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud.
Mat polygons;
//! where n is the number of points in the polygon, and id is a zero-offset index into an associated cloud.
Mat polygons; //!< CV_32SC1 with only 1 row
Mat texture, tcoords;
Mat texture;
Mat tcoords; //!< CV_32FC2 or CV_64FC2 with only 1 row
/** @brief Loads a mesh from a ply or a obj file.
@ -165,20 +169,39 @@ namespace cv
point determines the field of view.
*/
Camera(double fx, double fy, double cx, double cy, const Size &window_size);
/** @overload
@param fov Field of view (horizontal, vertical)
@param window_size Size of the window. Principal point is at the center of the window
by default.
*/
explicit Camera(const Vec2d &fov, const Size &window_size);
Camera(const Vec2d &fov, const Size &window_size);
/** @overload
@param K Intrinsic matrix of the camera.
@param K Intrinsic matrix of the camera with the following form
\f[
\begin{bmatrix}
f_x & 0 & c_x\\
0 & f_y & c_y\\
0 & 0 & 1\\
\end{bmatrix}
\f]
@param window_size Size of the window. This together with intrinsic matrix determines
the field of view.
*/
explicit Camera(const Matx33d &K, const Size &window_size);
Camera(const Matx33d &K, const Size &window_size);
/** @overload
@param proj Projection matrix of the camera.
@param proj Projection matrix of the camera with the following form
\f[
\begin{bmatrix}
\frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\
0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\
0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\
0 & 0 & -1 & 0\\
\end{bmatrix}
\f]
@param window_size Size of the window. This together with projection matrix determines
the field of view.
*/
@ -198,11 +221,23 @@ namespace cv
/** @brief Computes projection matrix using intrinsic parameters of the camera.
@param proj Output projection matrix.
@param proj Output projection matrix with the following form
\f[
\begin{bmatrix}
\frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\
0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\
0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\
0 & 0 & -1 & 0\\
\end{bmatrix}
\f]
*/
void computeProjectionMatrix(Matx44d &proj) const;
/** @brief Creates a Kinect Camera.
/** @brief Creates a Kinect Camera with
- fx = fy = 525
- cx = 320
- cy = 240
@param window_size Size of the window. This together with intrinsic matrix of a Kinect Camera
determines the field of view.
@ -212,10 +247,33 @@ namespace cv
private:
void init(double fx, double fy, double cx, double cy, const Size &window_size);
/** The near plane and the far plane.
* - clip_[0]: the near plane; default value is 0.01
* - clip_[1]: the far plane; default value is 1000.01
*/
Vec2d clip_;
/**
* Field of view.
* - fov_[0]: horizontal(x-axis) field of view in radians
* - fov_[1]: vertical(y-axis) field of view in radians
*/
Vec2d fov_;
/** Window size.*/
Size window_size_;
/**
* Principal point.
* - principal_point_[0]: cx
* - principal_point_[1]: cy
*/
Vec2d principal_point_;
/**
* Focal length.
* - focal_[0]: fx
* - focal_[1]: fy
*/
Vec2d focal_;
};

33
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -62,7 +62,7 @@ namespace cv
//! @addtogroup viz
//! @{
/** @brief The Viz3d class represents a 3D visualizer window. This class is implicitly shared. :
/** @brief The Viz3d class represents a 3D visualizer window. This class is implicitly shared.
*/
class CV_EXPORTS Viz3d
{
@ -134,7 +134,7 @@ namespace cv
/** @brief Sets the intrinsic parameters of the viewer using Camera.
@param camera Camera object wrapping intrinsinc parameters.
@param camera Camera object wrapping intrinsic parameters.
*/
void setCamera(const Camera &camera);
@ -186,6 +186,7 @@ namespace cv
void setWindowSize(const Size &window_size);
/** @brief Returns the name of the window which has been set in the constructor.
* `Viz - ` is prepended to the name if necessary.
*/
String getWindowName() const;
@ -274,22 +275,22 @@ namespace cv
@param property Property that will be modified.
@param value The new value of the property.
**Rendering property** can be one of the following:
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
-
**REPRESENTATION**: Expected values are
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
-
**IMMEDIATE_RENDERING**:
IMMEDIATE_RENDERING:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
-
**SHADING**: Expected values are
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**
@ -300,22 +301,22 @@ namespace cv
@param id Id of the widget.
@param property Property.
**Rendering property** can be one of the following:
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
-
**REPRESENTATION**: Expected values are
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
-
**IMMEDIATE_RENDERING**:
IMMEDIATE_RENDERING:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
-
**SHADING**: Expected values are
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**

74
modules/viz/include/opencv2/viz/vizcore.hpp
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@ -60,21 +60,24 @@ namespace cv
/** @brief Takes coordinate frame data and builds transform to global coordinate frame.
@param axis_x X axis vector in global coordinate frame. @param axis_y Y axis vector in global
coordinate frame. @param axis_z Z axis vector in global coordinate frame. @param origin Origin of
the coordinate frame in global coordinate frame.
@param axis_x X axis vector in global coordinate frame.
@param axis_y Y axis vector in global coordinate frame.
@param axis_z Z axis vector in global coordinate frame.
@param origin Origin of the coordinate frame in global coordinate frame.
This function returns affine transform that describes transformation between global coordinate frame
@return An affine transform that describes transformation between global coordinate frame
and a given coordinate frame.
The returned transforms can transform a point in the given coordinate frame to the global
coordinate frame.
*/
CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0));
/** @brief Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more
infromation).
@param position Position of the camera in global coordinate frame. @param focal_point Focal point
of the camera in global coordinate frame. @param y_dir Up vector of the camera in global
coordinate frame.
@param position Position of the camera in global coordinate frame.
@param focal_point Focal point of the camera in global coordinate frame.
@param y_dir Up vector of the camera in global coordinate frame.
This function returns pose of the camera in global coordinate frame.
*/
@ -98,7 +101,7 @@ namespace cv
*/
CV_EXPORTS Viz3d getWindowByName(const String &window_name);
//! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database.
//! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead of getting existing from the database.
CV_EXPORTS void unregisterAllWindows();
//! Displays image in specified window
@ -142,7 +145,23 @@ namespace cv
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)
/**
* @param file Filename with extension. Supported formats: PLY, XYZ and OBJ.
* @param cloud Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4.
* @param colors Used by PLY format only. Supported depth: CV_8U. Supported channels: 1, 3 and 4.
* @param normals Used by PLY and OBJ format only. Supported depths: CV_32F and CV_64F.
* Supported channels: 3 and 4.
* @param binary Used only for PLY format.
*/
CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false);
/**
* @param file Filename with extension. Supported formats: PLY, XYZ, OBJ and STL.
* @param colors Used by PLY and STL formats only.
* @param normals Used by PLY, OBJ and STL formats only.
* @return A mat containing the point coordinates with depth CV_32F or CV_64F and number of
* channels 3 or 4 with only 1 row.
*/
CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray());
///////////////////////////////////////////////////////////////////////////////////////////////
@ -153,19 +172,50 @@ namespace cv
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write poses and trajectories
/**
* @param file Filename of type supported by cv::FileStorage.
* @param pose Output matrix.
* @param tag Name of the pose in the file.
*/
CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose");
/**
* @param file Filename.
* @param pose Input matrix.
* @param tag Name of the pose to be saved into the given file.
*/
CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose");
//! takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format
/** takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format
* @param traj Trajectory containing a list of poses. It can be
* - std::vector<cv::Mat>, each cv::Mat is of type CV_32F16 or CV_64FC16
* - std::vector<cv::Affine3f>, std::vector<cv::Affine3d>
* - cv::Mat of type CV_32FC16 OR CV_64F16
* @param files_format Format specifier string for constructing filenames.
* The only placeholder in the string should support `int`.
* @param start The initial counter for files_format.
* @param tag Name of the matrix in the file.
*/
CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose");
//! takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files
/** takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files
*
* @param traj Output array containing a lists of poses. It can be
* - std::vector<cv::Affine3f>, std::vector<cv::Affine3d>
* - cv::Mat
* @param files_format Format specifier string for constructing filenames.
* The only placeholder in the string should support `int`.
* @param start The initial counter for files_format. It must be greater than or equal to 0.
* @param end The final counter for files_format.
* @param tag Name of the matrix in the file.
*/
CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose");
///////////////////////////////////////////////////////////////////////////////////////////////
/// Computing normals for mesh
/** Computing normals for mesh
* @param mesh Input mesh.
* @param normals Normals at very point in the mesh of type CV_64FC3.
*/
CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals);
//! @}

36
modules/viz/include/opencv2/viz/widgets.hpp
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@ -87,7 +87,7 @@ namespace cv
/////////////////////////////////////////////////////////////////////////////
/** @brief Base class of all widgets. Widget is implicitly shared. :
/** @brief Base class of all widgets. Widget is implicitly shared.
*/
class CV_EXPORTS Widget
{
@ -108,22 +108,22 @@ namespace cv
@param property Property that will be modified.
@param value The new value of the property.
**Rendering property** can be one of the following:
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
-
**REPRESENTATION**: Expected values are
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
-
**IMMEDIATE_RENDERING**:
IMMEDIATE_RENDERING:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
-
**SHADING**: Expected values are
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**
@ -133,24 +133,24 @@ namespace cv
@param property Property.
**Rendering property** can be one of the following:
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
- **AMBIENT**
-
**REPRESENTATION**: Expected values are
: - **REPRESENTATION_POINTS**
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
-
**IMMEDIATE_RENDERING**:
: - Turn on immediate rendering by setting the value to 1.
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
-
**SHADING**: Expected values are
: - **SHADING_FLAT**
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**
*/
@ -306,7 +306,7 @@ namespace cv
class CV_EXPORTS WCircle : public Widget3D
{
public:
/** @brief Constructs default planar circle centred at origin with plane normal along z-axis
/** @brief Constructs default planar circle centered at origin with plane normal along z-axis
@param radius Radius of the circle.
@param thickness Thickness of the circle.

2
modules/viz/src/clouds.cpp
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@ -89,10 +89,8 @@ cv::viz::WCloud::WCloud(cv::InputArray cloud, cv::InputArray colors, cv::InputAr
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
template<> cv::viz::WCloud cv::viz::Widget::cast<cv::viz::WCloud>()
{
Widget3D widget = this->cast<Widget3D>();

22
modules/viz/src/vizcore.cpp
View File

@ -169,26 +169,26 @@ cv::viz::Viz3d cv::viz::imshow(const String& window_name, InputArray image, cons
void cv::viz::writeCloud(const String& file, InputArray cloud, InputArray colors, InputArray normals, bool binary)
{
CV_Assert(file.size() > 4 && "Extention is required");
String extention = file.substr(file.size()-4);
CV_Assert(file.size() > 4 && "Extension is required");
String extension = file.substr(file.size()-4);
vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
source->SetColorCloudNormals(cloud, colors, normals);
vtkSmartPointer<vtkWriter> writer;
if (extention == ".xyz")
if (extension == ".xyz")
{
writer = vtkSmartPointer<vtkXYZWriter>::New();
vtkXYZWriter::SafeDownCast(writer)->SetFileName(file.c_str());
}
else if (extention == ".ply")
else if (extension == ".ply")
{
writer = vtkSmartPointer<vtkPLYWriter>::New();
vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str());
vtkPLYWriter::SafeDownCast(writer)->SetFileType(binary ? VTK_BINARY : VTK_ASCII);
vtkPLYWriter::SafeDownCast(writer)->SetArrayName("Colors");
}
else if (extention == ".obj")
else if (extension == ".obj")
{
writer = vtkSmartPointer<vtkOBJWriter>::New();
vtkOBJWriter::SafeDownCast(writer)->SetFileName(file.c_str());
@ -202,27 +202,27 @@ void cv::viz::writeCloud(const String& file, InputArray cloud, InputArray colors
cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray normals)
{
CV_Assert(file.size() > 4 && "Extention is required");
String extention = file.substr(file.size()-4);
CV_Assert(file.size() > 4 && "Extension is required");
String extension = file.substr(file.size()-4);
vtkSmartPointer<vtkPolyDataAlgorithm> reader;
if (extention == ".xyz")
if (extension == ".xyz")
{
reader = vtkSmartPointer<vtkXYZReader>::New();
vtkXYZReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else if (extention == ".ply")
else if (extension == ".ply")
{
reader = vtkSmartPointer<vtkPLYReader>::New();
CV_Assert(vtkPLYReader::CanReadFile(file.c_str()));
vtkPLYReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else if (extention == ".obj")
else if (extension == ".obj")
{
reader = vtkSmartPointer<vtkOBJReader>::New();
vtkOBJReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else if (extention == ".stl")
else if (extension == ".stl")
{
reader = vtkSmartPointer<vtkSTLReader>::New();
vtkSTLReader::SafeDownCast(reader)->SetFileName(file.c_str());

9
modules/viz/src/vtk/vtkCloudMatSink.h
View File

@ -73,13 +73,16 @@ namespace cv
void WriteData();
int FillInputPortInformation(int port, vtkInformation *info);
_OutputArray cloud, colors, normals, tcoords;
_OutputArray cloud; //!< point coordinates of type CV_32FC3 or CV_64FC3 with only 1 row
_OutputArray colors; //!< point color of type CV_8UC3 or CV_8UC4 with only 1 row
_OutputArray normals; //!< point normal of type CV_32FC3, CV_32FC4, CV_64FC3 or CV_64FC4 with only 1 row
_OutputArray tcoords; //!< texture coordinates of type CV_32FC2 or CV_64FC2 with only 1 row
private:
vtkCloudMatSink(const vtkCloudMatSink&); // Not implemented.
void operator=(const vtkCloudMatSink&); // Not implemented.
};
}
}
} // end namespace viz
} // end namespace cv
#endif

6
modules/viz/src/vtk/vtkVizInteractorStyle.hpp
View File

@ -109,7 +109,7 @@ namespace cv
vtkSetMacro(MotionAccelerationFactor,double)
vtkGetMacro(MotionAccelerationFactor,double)
// Set the basic angular unit for turning : efault 1 degree
// Set the basic angular unit for turning : default 1 degree
vtkSetMacro(AngleStepSize,double)
vtkGetMacro(AngleStepSize,double)
@ -163,7 +163,7 @@ namespace cv
double DeltaYaw;
double DeltaPitch;
};
}
}
} // end namespace viz
} // end namespace cv
#endif

4
modules/viz/src/widget.cpp
View File

@ -181,7 +181,7 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
break;
}
default:
CV_Assert("setPointCloudRenderingProperties: Unknown property");
CV_Assert("setRenderingProperty: Unknown property");
}
actor->Modified();
}
@ -230,7 +230,7 @@ double cv::viz::Widget::getRenderingProperty(int property) const
break;
}
default:
CV_Assert("getPointCloudRenderingProperties: Unknown property");
CV_Assert("getRenderingProperty: Unknown property");
}
return value;
}