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Merge pull request #15 from ozantonkal/implementing_widgets

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Implementing widgets
This commit is contained in:
Anatoly Baksheev 2013-07-11 02:28:55 -07:00
commit ea8d485d76
10 changed files with 613 additions and 783 deletions
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12
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -26,16 +26,11 @@ namespace temp_viz
void setBackgroundColor(const Color& color = Color::black()); void setBackgroundColor(const Color& color = Color::black());
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline"); bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon"); bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
void spin (); void spin ();
@ -47,10 +42,11 @@ namespace temp_viz
bool wasStopped() const; bool wasStopped() const;
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity()); void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
bool removeWidget(const String &id); void removeWidget(const String &id);
Widget getWidget(const String &id) const;
bool setWidgetPose(const String &id, const Affine3f &pose); void setWidgetPose(const String &id, const Affine3f &pose);
bool updateWidgetPose(const String &id, const Affine3f &pose); void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const; Affine3f getWidgetPose(const String &id) const;
private: private:
Viz3d(const Viz3d&); Viz3d(const Viz3d&);

5
modules/viz/include/opencv2/viz/widget_accessor.hpp
View File

@ -2,7 +2,7 @@
#include <opencv2/core/cvdef.h> #include <opencv2/core/cvdef.h>
#include <vtkSmartPointer.h> #include <vtkSmartPointer.h>
#include <vtkLODActor.h> #include <vtkProp.h>
namespace temp_viz namespace temp_viz
{ {
@ -12,6 +12,7 @@ namespace temp_viz
//It is indended for those users who want to develop own widgets system using VTK library API. //It is indended for those users who want to develop own widgets system using VTK library API.
struct CV_EXPORTS WidgetAccessor struct CV_EXPORTS WidgetAccessor
{ {
static vtkSmartPointer<vtkProp> getActor(const Widget &widget); static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
}; };
} }

109
modules/viz/include/opencv2/viz/widgets.hpp
View File

@ -16,29 +16,45 @@ namespace temp_viz
~Widget(); ~Widget();
void copyTo(Widget &dst); template<typename _W> _W cast();
private:
class Impl;
Impl *impl_;
friend struct WidgetAccessor;
void create();
void release();
};
/////////////////////////////////////////////////////////////////////////////
/// The base class for all 3D widgets
class CV_EXPORTS Widget3D : public Widget
{
public:
Widget3D() {}
void setColor(const Color &color);
void setPose(const Affine3f &pose); void setPose(const Affine3f &pose);
void updatePose(const Affine3f &pose); void updatePose(const Affine3f &pose);
Affine3f getPose() const; Affine3f getPose() const;
protected: void setColor(const Color &color);
Widget(bool text_widget);
private: private:
class Impl; struct MatrixConverter;
Impl* impl_;
void create();
void release();
void create(bool text_widget);
friend struct WidgetAccessor;
}; };
/////////////////////////////////////////////////////////////////////////////
/// The base class for all 2D widgets
class CV_EXPORTS Widget2D : public Widget
{
public:
Widget2D() {}
class CV_EXPORTS LineWidget : public Widget void setColor(const Color &color);
};
class CV_EXPORTS LineWidget : public Widget3D
{ {
public: public:
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()); LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
@ -47,71 +63,118 @@ namespace temp_viz
float getLineWidth(); float getLineWidth();
}; };
class CV_EXPORTS PlaneWidget : public Widget class CV_EXPORTS PlaneWidget : public Widget3D
{ {
public: public:
PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white()); PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white()); PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
}; };
class CV_EXPORTS SphereWidget : public Widget class CV_EXPORTS SphereWidget : public Widget3D
{ {
public: public:
SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white()); SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
}; };
class CV_EXPORTS ArrowWidget : public Widget class CV_EXPORTS ArrowWidget : public Widget3D
{ {
public: public:
ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color = Color::white()); ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color = Color::white());
}; };
class CV_EXPORTS CircleWidget : public Widget class CV_EXPORTS CircleWidget : public Widget3D
{ {
public: public:
CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white()); CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
}; };
class CV_EXPORTS CylinderWidget : public Widget class CV_EXPORTS CylinderWidget : public Widget3D
{ {
public: public:
CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white()); CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
}; };
class CV_EXPORTS CubeWidget : public Widget class CV_EXPORTS CubeWidget : public Widget3D
{ {
public: public:
CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, 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 class CV_EXPORTS CoordinateSystemWidget : public Widget3D
{ {
public: public:
CoordinateSystemWidget(double scale, const Affine3f& affine); CoordinateSystemWidget(double scale, const Affine3f& affine);
}; };
class CV_EXPORTS TextWidget : public Widget class CV_EXPORTS PolyLineWidget : public Widget3D
{
public:
PolyLineWidget(InputArray _points, const Color &color = Color::white());
private:
struct CopyImpl;
};
class CV_EXPORTS GridWidget : public Widget3D
{
public:
GridWidget(Vec2i dimensions, Vec2d spacing, const Color &color = Color::white());
};
class CV_EXPORTS Text3DWidget : public Widget3D
{
public:
Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
};
class CV_EXPORTS TextWidget : public Widget2D
{ {
public: public:
TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()); TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
// TODO Overload setColor method, and hide setPose, updatePose, getPose methods void setText(const String &text);
String getText() const;
}; };
class CV_EXPORTS CloudWidget : public Widget class CV_EXPORTS CloudWidget : public Widget3D
{ {
public: public:
CloudWidget(InputArray _cloud, InputArray _colors); CloudWidget(InputArray _cloud, InputArray _colors);
CloudWidget(InputArray _cloud, const Color &color = Color::white()); CloudWidget(InputArray _cloud, const Color &color = Color::white());
private: private:
struct CreateCloudWidget; struct CreateCloudWidget;
}; };
class CV_EXPORTS CloudNormalsWidget : public Widget class CV_EXPORTS CloudNormalsWidget : public Widget3D
{ {
public: public:
CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white()); CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
private: private:
struct ApplyCloudNormals; struct ApplyCloudNormals;
}; };
template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>();
template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>();
template<> CV_EXPORTS LineWidget Widget::cast<LineWidget>();
template<> CV_EXPORTS PlaneWidget Widget::cast<PlaneWidget>();
template<> CV_EXPORTS SphereWidget Widget::cast<SphereWidget>();
template<> CV_EXPORTS CylinderWidget Widget::cast<CylinderWidget>();
template<> CV_EXPORTS ArrowWidget Widget::cast<ArrowWidget>();
template<> CV_EXPORTS CircleWidget Widget::cast<CircleWidget>();
template<> CV_EXPORTS CubeWidget Widget::cast<CubeWidget>();
template<> CV_EXPORTS CoordinateSystemWidget Widget::cast<CoordinateSystemWidget>();
template<> CV_EXPORTS PolyLineWidget Widget::cast<PolyLineWidget>();
template<> CV_EXPORTS GridWidget Widget::cast<GridWidget>();
template<> CV_EXPORTS Text3DWidget Widget::cast<Text3DWidget>();
template<> CV_EXPORTS TextWidget Widget::cast<TextWidget>();
template<> CV_EXPORTS CloudWidget Widget::cast<CloudWidget>();
template<> CV_EXPORTS CloudNormalsWidget Widget::cast<CloudNormalsWidget>();
} }

28
modules/viz/src/q/viz3d_impl.hpp
View File

@ -52,36 +52,15 @@ public:
void setBackgroundColor (const Color& color); void setBackgroundColor (const Color& color);
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
bool updateText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
/** \brief Set the pose of an existing shape. Returns false if the shape doesn't exist, true if the pose was succesfully updated. */
bool updateShapePose (const String& id, const Affine3f& pose);
bool addText3D (const String &text, const Point3f &position, const Color& color, double textScale = 1.0, const String& id = "");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
/** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene
* \param[in] id a variable to identify the point cloud
* \param[in] cloud cloud input in x,y,z coordinates
* \param[in] colors color input in the same order of the points or single uniform color
* \param[in] pose transform to be applied on the point cloud
*/
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon"); bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon"); bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline"); bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
void setPointCloudColor (const Color& color, const String& id = "cloud");
bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud"); bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud"); bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
bool setShapeRenderingProperties (int property, double value, const String& id); bool setShapeRenderingProperties (int property, double value, const String& id);
void setShapeColor (const Color& color, const String& id);
/** \brief Set whether the point cloud is selected or not /** \brief Set whether the point cloud is selected or not
* \param[in] selected whether the cloud is selected or not (true = selected) * \param[in] selected whether the cloud is selected or not (true = selected)
@ -200,10 +179,11 @@ public:
void setSize (int xw, int yw); void setSize (int xw, int yw);
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity()); void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
bool removeWidget(const String &id); void removeWidget(const String &id);
Widget getWidget(const String &id) const;
bool setWidgetPose(const String &id, const Affine3f &pose); void setWidgetPose(const String &id, const Affine3f &pose);
bool updateWidgetPose(const String &id, const Affine3f &pose); void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const; Affine3f getWidgetPose(const String &id) const;
void all_data(); void all_data();

293
modules/viz/src/simple_widgets.cpp
View File

@ -17,24 +17,33 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(line->GetOutput ()); mapper->SetInput(line->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
void temp_viz::LineWidget::setLineWidth(float line_width) void temp_viz::LineWidget::setLineWidth(float line_width)
{ {
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
actor->GetProperty()->SetLineWidth(line_width); actor->GetProperty()->SetLineWidth(line_width);
} }
float temp_viz::LineWidget::getLineWidth() float temp_viz::LineWidget::getLineWidth()
{ {
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
return actor->GetProperty()->GetLineWidth(); return actor->GetProperty()->GetLineWidth();
} }
template<> temp_viz::LineWidget temp_viz::Widget::cast<temp_viz::LineWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<LineWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// plane widget implementation /// plane widget implementation
@ -48,10 +57,11 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ()); mapper->SetInput(plane->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
actor->SetScale(size); actor->SetScale(size);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -69,13 +79,20 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ()); mapper->SetInput(plane->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
actor->SetScale(size); actor->SetScale(size);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::PlaneWidget temp_viz::Widget::cast<temp_viz::PlaneWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<PlaneWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// sphere widget implementation /// sphere widget implementation
@ -92,12 +109,19 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(sphere->GetOutput ()); mapper->SetInput(sphere->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::SphereWidget temp_viz::Widget::cast<temp_viz::SphereWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<SphereWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// arrow widget implementation /// arrow widget implementation
@ -154,12 +178,19 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(transformPD->GetOutput ()); mapper->SetInput(transformPD->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::ArrowWidget temp_viz::Widget::cast<temp_viz::ArrowWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<ArrowWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// circle widget implementation /// circle widget implementation
@ -183,12 +214,19 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tf->GetOutput ()); mapper->SetInput(tf->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::CircleWidget temp_viz::Widget::cast<temp_viz::CircleWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<CircleWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation /// cylinder widget implementation
@ -207,12 +245,19 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tuber->GetOutput ()); mapper->SetInput(tuber->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::CylinderWidget temp_viz::Widget::cast<temp_viz::CylinderWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<CylinderWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation /// cylinder widget implementation
@ -224,15 +269,22 @@ temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, b
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(cube->GetOutput ()); mapper->SetInput(cube->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
if (wire_frame) if (wire_frame)
actor->GetProperty ()->SetRepresentationToWireframe (); actor->GetProperty ()->SetRepresentationToWireframe ();
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::CubeWidget temp_viz::Widget::cast<temp_viz::CubeWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<CubeWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// coordinate system widget implementation /// coordinate system widget implementation
@ -264,7 +316,7 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
mapper->SetScalarModeToUsePointData (); mapper->SetScalarModeToUsePointData ();
mapper->SetInput(axes_tubes->GetOutput ()); mapper->SetInput(axes_tubes->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
cv::Vec3d t = affine.translation(); cv::Vec3d t = affine.translation();
@ -280,14 +332,183 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
actor->SetOrientation(0,0,0); actor->SetOrientation(0,0,0);
actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]); actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]);
WidgetAccessor::setProp(*this, actor);
}
template<> temp_viz::CoordinateSystemWidget temp_viz::Widget::cast<temp_viz::CoordinateSystemWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<CoordinateSystemWidget&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// polyline widget implementation
struct temp_viz::PolyLineWidget::CopyImpl
{
template<typename _Tp>
static void copy(const Mat& source, Vec<_Tp, 3> *output, vtkSmartPointer<vtkPolyLine> polyLine)
{
int s_chs = source.channels();
for(int y = 0, id = 0; y < source.rows; ++y)
{
const _Tp* srow = source.ptr<_Tp>(y);
for(int x = 0; x < source.cols; ++x, srow += s_chs, ++id)
{
*output++ = Vec<_Tp, 3>(srow);
polyLine->GetPointIds()->SetId(id,id);
}
}
}
};
temp_viz::PolyLineWidget::PolyLineWidget(InputArray _pointData, const Color &color)
{
Mat pointData = _pointData.getMat();
CV_Assert(pointData.type() == CV_32FC3 || pointData.type() == CV_32FC4 || pointData.type() == CV_64FC3 || pointData.type() == CV_64FC4);
vtkIdType nr_points = pointData.total();
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
if (pointData.depth() == CV_32F)
points->SetDataTypeToFloat();
else
points->SetDataTypeToDouble();
points->SetNumberOfPoints(nr_points);
polyLine->GetPointIds()->SetNumberOfIds(nr_points);
if (pointData.depth() == CV_32F)
{
// Get a pointer to the beginning of the data array
Vec3f *data_beg = vtkpoints_data<float>(points);
CopyImpl::copy(pointData, data_beg, polyLine);
}
else if (pointData.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data_beg = vtkpoints_data<double>(points);
CopyImpl::copy(pointData, data_beg, polyLine);
}
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(polyLine);
polyData->SetPoints(points);
polyData->SetLines(cells);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInput(polyData);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
template<> temp_viz::PolyLineWidget temp_viz::Widget::cast<temp_viz::PolyLineWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<PolyLineWidget&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// grid widget implementation
temp_viz::GridWidget::GridWidget(Vec2i dimensions, Vec2d spacing, const Color &color)
{
// Create the grid using image data
vtkSmartPointer<vtkImageData> grid = vtkSmartPointer<vtkImageData>::New();
// Add 1 to dimensions because in ImageData dimensions is the number of lines
// - however here it means number of cells
grid->SetDimensions(dimensions[0]+1, dimensions[1]+1, 1);
grid->SetSpacing(spacing[0], spacing[1], 0.);
// Set origin of the grid to be the middle of the grid
grid->SetOrigin(dimensions[0] * spacing[0] * (-0.5), dimensions[1] * spacing[1] * (-0.5), 0);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
mapper->SetInput(grid);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
// Show it as wireframe
actor->GetProperty ()->SetRepresentationToWireframe ();
WidgetAccessor::setProp(*this, actor);
}
template<> temp_viz::GridWidget temp_viz::Widget::cast<temp_viz::GridWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<GridWidget&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// text3D widget implementation
temp_viz::Text3DWidget::Text3DWidget(const String &text, const Point3f &position, double text_scale, const Color &color)
{
vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New ();
textSource->SetText (text.c_str());
textSource->Update ();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
mapper->SetInputConnection (textSource->GetOutputPort ());
vtkSmartPointer<vtkFollower> actor = vtkSmartPointer<vtkFollower>::New ();
actor->SetMapper (mapper);
actor->SetPosition (position.x, position.y, position.z);
actor->SetScale (text_scale);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
void temp_viz::Text3DWidget::setText(const String &text)
{
vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
// Update text source
vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
CV_Assert(textSource);
textSource->SetText(text.c_str());
textSource->Update();
}
temp_viz::String temp_viz::Text3DWidget::getText() const
{
vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
CV_Assert(textSource);
return textSource->GetText();
}
template<> temp_viz::Text3DWidget temp_viz::Widget::cast<temp_viz::Text3DWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<Text3DWidget&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// text widget implementation /// text widget implementation
temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) : Widget(true) temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color)
{ {
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New();
actor->SetPosition (pos.x, pos.y); actor->SetPosition (pos.x, pos.y);
actor->SetInput (text.c_str ()); actor->SetInput (text.c_str ());
@ -299,6 +520,28 @@ temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int fon
Color c = vtkcolor(color); Color c = vtkcolor(color);
tprop->SetColor (c.val); tprop->SetColor (c.val);
WidgetAccessor::setProp(*this, actor);
}
template<> temp_viz::TextWidget temp_viz::Widget::cast<temp_viz::TextWidget>()
{
Widget2D widget = this->cast<Widget2D>();
return static_cast<TextWidget&>(widget);
}
void temp_viz::TextWidget::setText(const String &text)
{
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
actor->SetInput(text.c_str());
}
temp_viz::String temp_viz::TextWidget::getText() const
{
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
return actor->GetInput();
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
@ -317,8 +560,6 @@ struct temp_viz::CloudWidget::CreateCloudWidget
vtkSmartPointer<vtkIdTypeArray> initcells; vtkSmartPointer<vtkIdTypeArray> initcells;
nr_points = cloud.total(); nr_points = cloud.total();
points = polydata->GetPoints ();
if (!points) if (!points)
{ {
points = vtkSmartPointer<vtkPoints>::New (); points = vtkSmartPointer<vtkPoints>::New ();
@ -400,7 +641,7 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); 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()); CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
vtkIdType nr_points; vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points); vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
@ -434,6 +675,8 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
actor->GetProperty ()->SetInterpolationToFlat (); actor->GetProperty ()->SetInterpolationToFlat ();
actor->GetProperty ()->BackfaceCullingOn (); actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper); actor->SetMapper (mapper);
WidgetAccessor::setProp(*this, actor);
} }
temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color) temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
@ -441,7 +684,7 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
Mat cloud = _cloud.getMat(); Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); 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)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
vtkIdType nr_points; vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points); vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
@ -460,9 +703,16 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
actor->GetProperty ()->BackfaceCullingOn (); actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper); actor->SetMapper (mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::CloudWidget temp_viz::Widget::cast<temp_viz::CloudWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<CloudWidget&>(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// cloud normals widget implementation /// cloud normals widget implementation
@ -589,7 +839,14 @@ temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _
mapper->SetColorModeToMapScalars(); mapper->SetColorModeToMapScalars();
mapper->SetScalarModeToUsePointData(); mapper->SetScalarModeToUsePointData();
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
template<> temp_viz::CloudNormalsWidget temp_viz::Widget::cast<temp_viz::CloudNormalsWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<CloudNormalsWidget&>(widget);
}

37
modules/viz/src/viz3d.cpp
View File

@ -17,21 +17,6 @@ void temp_viz::Viz3d::setBackgroundColor(const Color& color)
impl_->setBackgroundColor(color); impl_->setBackgroundColor(color);
} }
void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose)
{
impl_->showPointCloud(id, cloud, colors, pose);
}
void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose)
{
impl_->showPointCloud(id, cloud, color, pose);
}
bool temp_viz::Viz3d::addPointCloudNormals (const Mat &cloud, const Mat& normals, int level, float scale, const String& id)
{
return impl_->addPointCloudNormals(cloud, normals, level, scale, id);
}
bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id) bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id)
{ {
return impl_->addPolygonMesh(mesh, Mat(), id); return impl_->addPolygonMesh(mesh, Mat(), id);
@ -47,11 +32,6 @@ bool temp_viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const Stri
return impl_->addPolylineFromPolygonMesh(mesh, id); return impl_->addPolylineFromPolygonMesh(mesh, id);
} }
bool temp_viz::Viz3d::addText (const String &text, int xpos, int ypos, const Color& color, int fontsize, const String& id)
{
return impl_->addText(text, xpos, ypos, color, fontsize, id);
}
bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id) bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id)
{ {
return impl_->addPolygon(cloud, color, id); return impl_->addPolygon(cloud, color, id);
@ -84,19 +64,24 @@ void temp_viz::Viz3d::showWidget(const String &id, const Widget &widget, const A
impl_->showWidget(id, widget, pose); impl_->showWidget(id, widget, pose);
} }
bool temp_viz::Viz3d::removeWidget(const String &id) void temp_viz::Viz3d::removeWidget(const String &id)
{ {
return impl_->removeWidget(id); impl_->removeWidget(id);
} }
bool temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) temp_viz::Widget temp_viz::Viz3d::getWidget(const String &id) const
{ {
return impl_->setWidgetPose(id, pose); return impl_->getWidget(id);
} }
bool temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) void temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
{ {
return impl_->updateWidgetPose(id, pose); impl_->setWidgetPose(id, pose);
}
void temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
{
impl_->updateWidgetPose(id, pose);
} }
temp_viz::Affine3f temp_viz::Viz3d::getWidgetPose(const String &id) const temp_viz::Affine3f temp_viz::Viz3d::getWidgetPose(const String &id) const

479
modules/viz/src/viz3d_impl.cpp
View File

@ -36,347 +36,6 @@ void temp_viz::Viz3d::VizImpl::setWindowName (const std::string &name)
void temp_viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); } void temp_viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); }
void temp_viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); } void temp_viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); }
void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _cloud, InputArray _colors, const Affine3f& pose)
{
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());
vtkSmartPointer<vtkPolyData> polydata;
vtkSmartPointer<vtkCellArray> vertices;
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkIdTypeArray> initcells;
vtkIdType nr_points = cloud.total();
// If the cloud already exists, update otherwise create new one
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
bool exist = am_it == cloud_actor_map_->end();
if (exist)
{
// Add as new cloud
allocVtkPolyData(polydata);
//polydata = vtkSmartPointer<vtkPolyData>::New ();
vertices = vtkSmartPointer<vtkCellArray>::New ();
polydata->SetVerts (vertices);
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);
}
else
{
// Update the cloud
// Get the current poly data
polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
vertices = polydata->GetVerts ();
points = polydata->GetPoints ();
// Update the point data type based on the cloud
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat ();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble ();
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);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
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);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
nr_points = data_end - data_beg;
}
points->SetNumberOfPoints (nr_points);
vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
if (exist)
updateCells (cells, initcells, nr_points);
else
updateCells (cells, am_it->second.cells, nr_points);
// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
// Get a random color
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
Vec2d minmax;
polydata->GetPointData ()->SetScalars (scalars);
scalars->GetRange (minmax.val);
// If this is the new point cloud, a new actor is created
if (exist)
{
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (polydata, actor);
actor->GetMapper ()->SetScalarRange (minmax.val);
// Add it to all renderers
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*cloud_actor_map_)[id].actor = actor;
(*cloud_actor_map_)[id].cells = initcells;
const Eigen::Vector4f sensor_origin = Eigen::Vector4f::Zero ();
const Eigen::Quaternionf sensor_orientation = Eigen::Quaternionf::Identity ();
// Save the viewpoint transformation matrix to the global actor map
vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New();
convertToVtkMatrix (sensor_origin, sensor_orientation, transformation);
(*cloud_actor_map_)[id].viewpoint_transformation_ = transformation;
}
else
{
// Update the mapper
reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
am_it->second.actor->GetMapper ()->ScalarVisibilityOn();
am_it->second.actor->Modified ();
}
}
void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _cloud, const Color& color, const Affine3f& pose)
{
Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
vtkSmartPointer<vtkPolyData> polydata;
vtkSmartPointer<vtkCellArray> vertices;
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkIdTypeArray> initcells;
vtkIdType nr_points = cloud.total();
// If the cloud already exists, update otherwise create new one
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
bool exist = am_it == cloud_actor_map_->end();
if (exist)
{
// Add as new cloud
allocVtkPolyData(polydata);
//polydata = vtkSmartPointer<vtkPolyData>::New ();
vertices = vtkSmartPointer<vtkCellArray>::New ();
polydata->SetVerts (vertices);
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);
}
else
{
// Update the cloud
// Get the current poly data
polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
vertices = polydata->GetVerts ();
points = polydata->GetPoints ();
// Update the point data type based on the cloud
if (cloud.depth() == CV_32F)
points->SetDataTypeToFloat ();
else if (cloud.depth() == CV_64F)
points->SetDataTypeToDouble ();
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);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
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);
std::transform(data_beg, data_end, data_beg, ApplyAffine(pose));
nr_points = data_end - data_beg;
}
points->SetNumberOfPoints (nr_points);
vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
if (exist)
updateCells (cells, initcells, nr_points);
else
updateCells (cells, am_it->second.cells, nr_points);
// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
// Get a random color
Color c = vtkcolor(color);
polydata->GetPointData ()->SetScalars (0);
// If this is the new point cloud, a new actor is created
if (exist)
{
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (polydata, actor, false);
actor->GetProperty ()->SetColor(c.val);
// Add it to all renderers
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*cloud_actor_map_)[id].actor = actor;
(*cloud_actor_map_)[id].cells = initcells;
const Eigen::Vector4f sensor_origin = Eigen::Vector4f::Zero ();
const Eigen::Quaternionf sensor_orientation = Eigen::Quaternionf::Identity ();
// Save the viewpoint transformation matrix to the global actor map
vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New();
convertToVtkMatrix (sensor_origin, sensor_orientation, transformation);
(*cloud_actor_map_)[id].viewpoint_transformation_ = transformation;
}
else
{
// Update the mapper
reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
am_it->second.actor->GetProperty ()->SetColor(c.val);
am_it->second.actor->GetMapper ()->ScalarVisibilityOff();
am_it->second.actor->Modified ();
}
}
bool temp_viz::Viz3d::VizImpl::addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level, float scale, const std::string &id)
{
CV_Assert(cloud.size() == normals.size() && cloud.type() == CV_32FC3 && normals.type() == CV_32FC3);
if (cloud_actor_map_->find (id) != cloud_actor_map_->end ())
return false;
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
points->SetDataTypeToFloat ();
vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
data->SetNumberOfComponents (3);
vtkIdType nr_normals = 0;
float* pts = 0;
// If the cloud is organized, then distribute the normal step in both directions
if (cloud.cols > 1 && cloud.rows > 1)
{
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);
pts = new float[2 * nr_normals * 3];
vtkIdType cell_count = 0;
for (vtkIdType y = 0; y < cloud.rows; y += point_step)
for (vtkIdType x = 0; x < cloud.cols; x += point_step)
{
cv::Point3f p = cloud.at<cv::Point3f>(y, x);
cv::Point3f n = normals.at<cv::Point3f>(y, x) * scale;
pts[2 * cell_count * 3 + 0] = p.x;
pts[2 * cell_count * 3 + 1] = p.y;
pts[2 * cell_count * 3 + 2] = p.z;
pts[2 * cell_count * 3 + 3] = p.x + n.x;
pts[2 * cell_count * 3 + 4] = p.y + n.y;
pts[2 * cell_count * 3 + 5] = p.z + n.z;
lines->InsertNextCell (2);
lines->InsertCellPoint (2 * cell_count);
lines->InsertCellPoint (2 * cell_count + 1);
cell_count++;
}
}
else
{
nr_normals = (cloud.size().area() - 1) / level + 1 ;
pts = new float[2 * nr_normals * 3];
for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level)
{
cv::Point3f p = cloud.ptr<cv::Point3f>()[i];
cv::Point3f n = normals.ptr<cv::Point3f>()[i] * scale;
pts[2 * j * 3 + 0] = p.x;
pts[2 * j * 3 + 1] = p.y;
pts[2 * j * 3 + 2] = p.z;
pts[2 * j * 3 + 3] = p.x + n.x;
pts[2 * j * 3 + 4] = p.y + n.y;
pts[2 * j * 3 + 5] = p.z + n.z;
lines->InsertNextCell (2);
lines->InsertCellPoint (2 * j);
lines->InsertCellPoint (2 * j + 1);
}
}
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();
// create actor
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
actor->SetMapper (mapper);
// Add it to all renderers
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*cloud_actor_map_)[id].actor = actor;
return (true);
}
bool temp_viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id) bool temp_viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
{ {
CV_Assert(mesh.cloud.type() == CV_32FC3 && mesh.cloud.rows == 1 && !mesh.polygons.empty ()); CV_Assert(mesh.cloud.type() == CV_32FC3 && mesh.cloud.rows == 1 && !mesh.polygons.empty ());
@ -742,50 +401,6 @@ bool temp_viz::Viz3d::VizImpl::addArrow (const cv::Point3f &p1, const cv::Point3
return (true); return (true);
} }
//////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addText3D (const std::string &text, const cv::Point3f& position, const Color& color, double textScale, const std::string &id)
{
std::string tid;
if (id.empty ())
tid = text;
else
tid = id;
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
if (am_it != shape_actor_map_->end ())
return std::cout << "[addText3d] A text with id <" << tid << "> already exists! Please choose a different id and retry." << std::endl, false;
vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New ();
textSource->SetText (text.c_str());
textSource->Update ();
vtkSmartPointer<vtkPolyDataMapper> textMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
textMapper->SetInputConnection (textSource->GetOutputPort ());
// Since each follower may follow a different camera, we need different followers
vtkRenderer* renderer = renderer_;
vtkSmartPointer<vtkFollower> textActor = vtkSmartPointer<vtkFollower>::New ();
textActor->SetMapper (textMapper);
textActor->SetPosition (position.x, position.y, position.z);
textActor->SetScale (textScale);
Color c = vtkcolor(color);
textActor->GetProperty ()->SetColor (c.val);
textActor->SetCamera (renderer->GetActiveCamera ());
renderer->AddActor (textActor);
renderer->Render ();
// Save the pointer/ID pair to the global actor map. If we are saving multiple vtkFollowers
// for multiple viewport
(*shape_actor_map_)[tid] = textActor;
return (true);
}
bool temp_viz::Viz3d::VizImpl::addPolygon (const cv::Mat& cloud, const Color& color, const std::string &id) bool temp_viz::Viz3d::VizImpl::addPolygon (const cv::Mat& cloud, const Color& color, const std::string &id)
{ {
CV_Assert(cloud.type() == CV_32FC3 && cloud.rows == 1); CV_Assert(cloud.type() == CV_32FC3 && cloud.rows == 1);
@ -874,72 +489,80 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
removeActorFromRenderer(wam_itr->second.actor); removeActorFromRenderer(wam_itr->second.actor);
} }
// Get the actor and set the user matrix // Get the actor and set the user matrix
vtkLODActor *actor; vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(widget));
if (actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(widget))) if (actor)
{ {
// If the actor is 3D, apply pose
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix); vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix); actor->SetUserMatrix (matrix);
actor->Modified(); actor->Modified();
} }
renderer_->AddActor(WidgetAccessor::getActor(widget)); // If the actor is a vtkFollower, then it should always face the camera
(*widget_actor_map_)[id].actor = WidgetAccessor::getActor(widget); vtkFollower *follower = vtkFollower::SafeDownCast(actor);
} if (follower)
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();
CV_Assert(exists);
if (!removeActorFromRenderer (wam_itr->second.actor))
return false;
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)))
{ {
follower->SetCamera(renderer_->GetActiveCamera());
}
renderer_->AddActor(WidgetAccessor::getProp(widget));
(*widget_actor_map_)[id].actor = WidgetAccessor::getProp(widget);
}
void 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();
CV_Assert(exists);
CV_Assert(removeActorFromRenderer (wam_itr->second.actor));
widget_actor_map_->erase(wam_itr);
}
temp_viz::Widget temp_viz::Viz3d::VizImpl::getWidget(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);
Widget widget;
WidgetAccessor::setProp(widget, wam_itr->second.actor);
return widget;
}
void 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);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix); vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix); actor->SetUserMatrix (matrix);
actor->Modified (); actor->Modified ();
return true;
}
return false;
} }
bool temp_viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose) void temp_viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
{ {
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id); WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end(); bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists); CV_Assert(exists);
vtkLODActor *actor; vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor))) CV_Assert(actor);
{
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix) if (!matrix)
{ {
setWidgetPose(id, pose); setWidgetPose(id, pose);
return true; return ;
} }
Matx44f matrix_cv = convertToMatx(matrix); Matx44f matrix_cv = convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv); Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = convertToVtkMatrix(updated_pose.matrix); matrix = convertToVtkMatrix(updated_pose.matrix);
actor->SetUserMatrix (matrix); actor->SetUserMatrix (matrix);
actor->Modified (); actor->Modified ();
return true;
}
return false;
} }
temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) const temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
@ -948,12 +571,10 @@ temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) con
bool exists = wam_itr != widget_actor_map_->end(); bool exists = wam_itr != widget_actor_map_->end();
CV_Assert(exists); CV_Assert(exists);
vtkLODActor *actor; vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor))) CV_Assert(actor);
{
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix); Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv); return Affine3f(matrix_cv);
}
return Affine3f();
} }

113
modules/viz/src/viz_main.cpp
View File

@ -350,21 +350,6 @@ void temp_viz::Viz3d::VizImpl::setBackgroundColor (const Color& color)
renderer_->SetBackground (c.val); renderer_->SetBackground (c.val);
} }
/////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::setPointCloudColor (const Color& color, const std::string &id)
{
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
if (am_it != cloud_actor_map_->end ())
{
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->Modified ();
}
}
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::getPointCloudRenderingProperties (int property, double &value, const std::string &id) bool temp_viz::Viz3d::VizImpl::getPointCloudRenderingProperties (int property, double &value, const std::string &id)
{ {
@ -470,26 +455,6 @@ bool temp_viz::Viz3d::VizImpl::setPointCloudSelected (const bool selected, const
return true; return true;
} }
/////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::setShapeColor (const Color& color, const std::string &id)
{
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
Color c = vtkcolor(color);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->GetProperty ()->SetColor (c.val);
actor->GetProperty ()->SetEdgeColor (c.val);
actor->GetProperty ()->SetAmbient (0.8);
actor->GetProperty ()->SetDiffuse (0.8);
actor->GetProperty ()->SetSpecular (0.8);
actor->GetProperty ()->SetLighting (0);
actor->Modified ();
}
}
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::setShapeRenderingProperties (int property, double value, const std::string &id) bool temp_viz::Viz3d::VizImpl::setShapeRenderingProperties (int property, double value, const std::string &id)
{ {
@ -618,28 +583,6 @@ void temp_viz::Viz3d::VizImpl::updateCamera ()
renderer_->Render (); renderer_->Render ();
} }
/////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::updateShapePose (const std::string &id, const cv::Affine3f& pose)
{
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
vtkLODActor* actor;
if (am_it == shape_actor_map_->end ())
return (false);
else
actor = vtkLODActor::SafeDownCast (am_it->second);
vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
convertToVtkMatrix (pose.matrix, matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
return (true);
}
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::getCameras (temp_viz::Camera& camera) void temp_viz::Viz3d::VizImpl::getCameras (temp_viz::Camera& camera)
{ {
@ -916,62 +859,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
return (true); return (true);
} }
/////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
{
std::string tid = id.empty() ? text : id;
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
if (am_it != shape_actor_map_->end ())
return std::cout << "[addText] A text with id <"<<id <<"> already exists! Please choose a different id and retry.\n" << std::endl, false;
// Create an Actor
vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New ();
actor->SetPosition (xpos, ypos);
actor->SetInput (text.c_str ());
vtkSmartPointer<vtkTextProperty> tprop = actor->GetTextProperty ();
tprop->SetFontSize (fontsize);
tprop->SetFontFamilyToArial ();
tprop->SetJustificationToLeft ();
tprop->BoldOn ();
Color c = vtkcolor(color);
tprop->SetColor (c.val);
renderer_->AddActor(actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[tid] = actor;
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::updateText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
{
std::string tid = id.empty() ? text : id;
ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
if (am_it == shape_actor_map_->end ())
return false;
// Retrieve the Actor
vtkTextActor *actor = vtkTextActor::SafeDownCast (am_it->second);
actor->SetPosition (xpos, ypos);
actor->SetInput (text.c_str ());
vtkTextProperty* tprop = actor->GetTextProperty ();
tprop->SetFontSize (fontsize);
Color c = vtkcolor(color);
tprop->SetColor (c.val);
actor->Modified ();
return (true);
}
bool temp_viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id) bool temp_viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id)
{ {
CV_Assert(mesh.cloud.rows == 1 && mesh.cloud.type() == CV_32FC3); CV_Assert(mesh.cloud.rows == 1 && mesh.cloud.type() == CV_32FC3);

250
modules/viz/src/widget.cpp
View File

@ -1,126 +1,34 @@
#include "precomp.hpp" #include "precomp.hpp"
///////////////////////////////////////////////////////////////////////////////////////////////
/// widget implementation
class temp_viz::Widget::Impl class temp_viz::Widget::Impl
{ {
public: public:
vtkSmartPointer<vtkProp> actor; vtkSmartPointer<vtkProp> prop;
int ref_counter; int ref_counter;
Impl() : actor(vtkSmartPointer<vtkLODActor>::New()) {} Impl() : prop(0) {}
Impl(bool text_widget)
{
if (text_widget)
actor = vtkSmartPointer<vtkTextActor>::New();
else
actor = vtkSmartPointer<vtkLeaderActor2D>::New();
}
void setColor(const Color& color)
{
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
Color c = vtkcolor(color);
lod_actor->GetMapper ()->ScalarVisibilityOff ();
lod_actor->GetProperty ()->SetColor (c.val);
lod_actor->GetProperty ()->SetEdgeColor (c.val);
lod_actor->GetProperty ()->SetAmbient (0.8);
lod_actor->GetProperty ()->SetDiffuse (0.8);
lod_actor->GetProperty ()->SetSpecular (0.8);
lod_actor->GetProperty ()->SetLighting (0);
lod_actor->Modified ();
}
void setPose(const Affine3f& pose)
{
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
lod_actor->SetUserMatrix (matrix);
lod_actor->Modified ();
}
void updatePose(const Affine3f& pose)
{
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
if (!matrix)
{
setPose(pose);
return ;
}
Matx44f matrix_cv = convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = convertToVtkMatrix(updated_pose.matrix);
lod_actor->SetUserMatrix (matrix);
lod_actor->Modified ();
}
Affine3f getPose() const
{
vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);
}
protected:
static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
{
vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
vtk_matrix->SetElement(i, k, m(i, k));
return vtk_matrix;
}
static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
{
cv::Matx44f m;
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
m(i, k) = vtk_matrix->GetElement (i, k);
return m;
}
}; };
///////////////////////////////////////////////////////////////////////////////////////////////
/// stream accessor implementaion
vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getActor(const Widget& widget)
{
return widget.impl_->actor;
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// widget implementaion
temp_viz::Widget::Widget() : impl_(0) temp_viz::Widget::Widget() : impl_(0)
{ {
create(); create();
} }
temp_viz::Widget::Widget(bool text_widget) : impl_(0) temp_viz::Widget::Widget(const Widget &other) : impl_(other.impl_)
{ {
create(text_widget); if (impl_) CV_XADD(&impl_->ref_counter, 1);
} }
temp_viz::Widget::Widget(const Widget& other) : impl_(other.impl_) temp_viz::Widget& temp_viz::Widget::operator=(const Widget &other)
{
if (impl_)
CV_XADD(&impl_->ref_counter, 1);
}
temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
{ {
if (this != &other) if (this != &other)
{ {
release(); release();
impl_ = other.impl_; impl_ = other.impl_;
if (impl_) if (impl_) CV_XADD(&impl_->ref_counter, 1);
CV_XADD(&impl_->ref_counter, 1);
} }
return *this; return *this;
} }
@ -130,20 +38,9 @@ temp_viz::Widget::~Widget()
release(); release();
} }
void temp_viz::Widget::copyTo(Widget& /*dst*/)
{
// TODO Deep copy the data if there is any
}
void temp_viz::Widget::setColor(const Color& color) { impl_->setColor(color); }
void temp_viz::Widget::setPose(const Affine3f& pose) { impl_->setPose(pose); }
void temp_viz::Widget::updatePose(const Affine3f& pose) { impl_->updatePose(pose); }
temp_viz::Affine3f temp_viz::Widget::getPose() const { return impl_->getPose(); }
void temp_viz::Widget::create() void temp_viz::Widget::create()
{ {
if (impl_) if (impl_) release();
release();
impl_ = new Impl(); impl_ = new Impl();
impl_->ref_counter = 1; impl_->ref_counter = 1;
} }
@ -157,11 +54,128 @@ void temp_viz::Widget::release()
} }
} }
void temp_viz::Widget::create(bool text_widget) ///////////////////////////////////////////////////////////////////////////////////////////////
/// widget accessor implementaion
vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getProp(const Widget& widget)
{ {
if (impl_) return widget.impl_->prop;
release();
impl_ = new Impl(text_widget);
impl_->ref_counter = 1;
} }
void temp_viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> prop)
{
widget.impl_->prop = prop;
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// widget3D implementation
struct temp_viz::Widget3D::MatrixConverter
{
static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
{
cv::Matx44f m;
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
m(i, k) = vtk_matrix->GetElement (i, k);
return m;
}
static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
{
vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
vtk_matrix->SetElement(i, k, m(i, k));
return vtk_matrix;
}
};
void temp_viz::Widget3D::setPose(const Affine3f &pose)
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
void temp_viz::Widget3D::updatePose(const Affine3f &pose)
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setPose(pose);
return ;
}
Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = MatrixConverter::convertToVtkMatrix(updated_pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
temp_viz::Affine3f temp_viz::Widget3D::getPose() const
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
return Affine3f(matrix_cv);
}
void temp_viz::Widget3D::setColor(const Color &color)
{
// Cast to actor instead of prop3d since prop3d doesn't provide getproperty
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
Color c = vtkcolor(color);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->GetProperty ()->SetColor (c.val);
actor->GetProperty ()->SetEdgeColor (c.val);
actor->GetProperty ()->SetAmbient (0.8);
actor->GetProperty ()->SetDiffuse (0.8);
actor->GetProperty ()->SetSpecular (0.8);
actor->GetProperty ()->SetLighting (0);
actor->Modified ();
}
template<> temp_viz::Widget3D temp_viz::Widget::cast<temp_viz::Widget3D>()
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
Widget3D widget;
WidgetAccessor::setProp(widget, actor);
return widget;
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// widget2D implementation
void temp_viz::Widget2D::setColor(const Color &color)
{
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
actor->Modified ();
}
template<> temp_viz::Widget2D temp_viz::Widget::cast<temp_viz::Widget2D>()
{
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
Widget2D widget;
WidgetAccessor::setProp(widget, actor);
return widget;
}

44
modules/viz/test/test_viz3d.cpp
View File

@ -112,16 +112,40 @@ TEST(Viz_viz3d, accuracy)
v.showWidget("coordinateSystem", csw); v.showWidget("coordinateSystem", csw);
// v.showWidget("text",tw); // v.showWidget("text",tw);
// v.showWidget("pcw",pcw); // v.showWidget("pcw",pcw);
v.showWidget("pcw2",pcw2); // v.showWidget("pcw2",pcw2);
temp_viz::LineWidget lw2 = lw; // temp_viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors); // v.showPointCloud("cld",cloud, colors);
cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0)); cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n"); // v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
temp_viz::CloudNormalsWidget cnw(cloud, normals); temp_viz::CloudNormalsWidget cnw(cloud, normals);
v.showWidget("n", cnw); // v.showWidget("n", cnw);
// lw = v.getWidget("n").cast<temp_viz::LineWidget>();
// pw = v.getWidget("n").cast<temp_viz::PlaneWidget>();
cv::Mat points(1, 4, CV_64FC4);
cv::Vec4d* data = points.ptr<cv::Vec4d>();
data[0] = cv::Vec4d(0.0,0.0,0.0,0.0);
data[1] = cv::Vec4d(1.0,1.0,1.0,1.0);
data[2] = cv::Vec4d(0.0,2.0,0.0,0.0);
data[3] = cv::Vec4d(3.0,4.0,1.0,1.0);
points = points.reshape(0, 2);
temp_viz::PolyLineWidget plw(points);
// v.showWidget("polyline",plw);
// lw = v.getWidget("polyline").cast<temp_viz::LineWidget>();
temp_viz::GridWidget gw(temp_viz::Vec2i(10,10), temp_viz::Vec2d(0.1,0.1));
v.showWidget("grid", gw);
lw = v.getWidget("grid").cast<temp_viz::LineWidget>();
temp_viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, temp_viz::Color(255,255,0));
v.showWidget("txt3d", t3w);
// float grid_x_angle = 0.0;
while(!v.wasStopped()) while(!v.wasStopped())
{ {
@ -129,28 +153,30 @@ TEST(Viz_viz3d, accuracy)
cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z)); 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)); 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.setColor(temp_viz::Color(col_blue, col_green, col_red));
lw.setLineWidth(lw.getLineWidth()+pos_x * 10); // lw.setLineWidth(pos_x * 10);
pw.setColor(temp_viz::Color(col_blue, col_green, col_red)); plw.setColor(temp_viz::Color(col_blue, col_green, col_red));
sw.setPose(cloudPosition); sw.setPose(cloudPosition);
// pw.setPose(cloudPosition); // pw.setPose(cloudPosition);
aw.setPose(cloudPosition); aw.setPose(cloudPosition);
cw.setPose(cloudPosition); cw.setPose(cloudPosition);
cyw.setPose(cloudPosition); cyw.setPose(cloudPosition);
lw.setPose(cloudPosition); // lw.setPose(cloudPosition);
cuw.setPose(cloudPosition); cuw.setPose(cloudPosition);
// cnw.setPose(cloudPosition); // cnw.setPose(cloudPosition);
// v.showWidget("pcw",pcw, cloudPosition); // v.showWidget("pcw",pcw, cloudPosition);
// v.showWidget("pcw2",pcw2, cloudPosition2); // v.showWidget("pcw2",pcw2, cloudPosition2);
// v.showWidget("plane", pw, cloudPosition); // v.showWidget("plane", pw, cloudPosition);
v.setWidgetPose("n",cloudPosition); // v.setWidgetPose("n",cloudPosition);
v.setWidgetPose("pcw2", cloudPosition); // v.setWidgetPose("pcw2", cloudPosition);
cnw.setColor(temp_viz::Color(col_blue, col_green, col_red)); cnw.setColor(temp_viz::Color(col_blue, col_green, col_red));
pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red)); pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
gw.updatePose(temp_viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
angle_x += 0.1f; angle_x += 0.1f;
angle_y -= 0.1f; angle_y -= 0.1f;
angle_z += 0.1f; angle_z += 0.1f;