#include "precomp.hpp" /////////////////////////////////////////////////////////////////////////////////////////////// /// line widget implementation cv::viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color) { vtkSmartPointer line = vtkSmartPointer::New(); line->SetPoint1 (pt1.x, pt1.y, pt1.z); line->SetPoint2 (pt2.x, pt2.y, pt2.z); line->Update (); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(line->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); WidgetAccessor::setProp(*this, actor); setColor(color); } void cv::viz::LineWidget::setLineWidth(float line_width) { vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); CV_Assert(actor); actor->GetProperty()->SetLineWidth(line_width); } float cv::viz::LineWidget::getLineWidth() { vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); CV_Assert(actor); return actor->GetProperty()->GetLineWidth(); } template<> cv::viz::LineWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// plane widget implementation cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &color) { vtkSmartPointer plane = vtkSmartPointer::New (); plane->SetNormal (coefs[0], coefs[1], coefs[2]); double norm = cv::norm(Vec3f(coefs.val)); plane->Push (-coefs[3] / norm); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(plane->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); actor->SetScale(size); WidgetAccessor::setProp(*this, actor); setColor(color); } cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size, const Color &color) { vtkSmartPointer plane = vtkSmartPointer::New (); Point3f coefs3(coefs[0], coefs[1], coefs[2]); double norm_sqr = 1.0 / coefs3.dot (coefs3); plane->SetNormal(coefs[0], coefs[1], coefs[2]); double t = coefs3.dot(pt) + coefs[3]; Vec3f p_center = pt - coefs3 * t * norm_sqr; plane->SetCenter (p_center[0], p_center[1], p_center[2]); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(plane->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); actor->SetScale(size); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::PlaneWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// sphere widget implementation cv::viz::SphereWidget::SphereWidget(const Point3f ¢er, float radius, int sphere_resolution, const Color &color) { vtkSmartPointer sphere = vtkSmartPointer::New (); sphere->SetRadius (radius); sphere->SetCenter (center.x, center.y, center.z); sphere->SetPhiResolution (sphere_resolution); sphere->SetThetaResolution (sphere_resolution); sphere->LatLongTessellationOff (); sphere->Update (); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(sphere->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::SphereWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// arrow widget implementation cv::viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color) { vtkSmartPointer arrowSource = vtkSmartPointer::New (); float startPoint[3], endPoint[3]; startPoint[0] = pt1.x; startPoint[1] = pt1.y; startPoint[2] = pt1.z; endPoint[0] = pt2.x; endPoint[1] = pt2.y; endPoint[2] = pt2.z; float normalizedX[3], normalizedY[3], normalizedZ[3]; // The X axis is a vector from start to end vtkMath::Subtract(endPoint, startPoint, normalizedX); float length = vtkMath::Norm(normalizedX); vtkMath::Normalize(normalizedX); // The Z axis is an arbitrary vecotr cross X float arbitrary[3]; arbitrary[0] = vtkMath::Random(-10,10); arbitrary[1] = vtkMath::Random(-10,10); arbitrary[2] = vtkMath::Random(-10,10); vtkMath::Cross(normalizedX, arbitrary, normalizedZ); vtkMath::Normalize(normalizedZ); // The Y axis is Z cross X vtkMath::Cross(normalizedZ, normalizedX, normalizedY); vtkSmartPointer matrix = vtkSmartPointer::New(); // Create the direction cosine matrix matrix->Identity(); for (unsigned int i = 0; i < 3; i++) { matrix->SetElement(i, 0, normalizedX[i]); matrix->SetElement(i, 1, normalizedY[i]); matrix->SetElement(i, 2, normalizedZ[i]); } // Apply the transforms vtkSmartPointer transform = vtkSmartPointer::New(); transform->Translate(startPoint); transform->Concatenate(matrix); transform->Scale(length, length, length); // Transform the polydata vtkSmartPointer transformPD = vtkSmartPointer::New(); transformPD->SetTransform(transform); transformPD->SetInputConnection(arrowSource->GetOutputPort()); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(transformPD->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::ArrowWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// circle widget implementation cv::viz::CircleWidget::CircleWidget(const Point3f& pt, double radius, double thickness, const Color& color) { vtkSmartPointer disk = vtkSmartPointer::New (); // Maybe the resolution should be lower e.g. 50 or 25 disk->SetCircumferentialResolution (50); disk->SetInnerRadius (radius - thickness); disk->SetOuterRadius (radius + thickness); // Set the circle origin vtkSmartPointer t = vtkSmartPointer::New (); t->Identity (); t->Translate (pt.x, pt.y, pt.z); vtkSmartPointer tf = vtkSmartPointer::New (); tf->SetTransform (t); tf->SetInputConnection (disk->GetOutputPort ()); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(tf->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::CircleWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// cylinder widget implementation cv::viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color) { const Point3f pt2 = pt_on_axis + axis_direction; vtkSmartPointer line = vtkSmartPointer::New (); line->SetPoint1 (pt_on_axis.x, pt_on_axis.y, pt_on_axis.z); line->SetPoint2 (pt2.x, pt2.y, pt2.z); vtkSmartPointer tuber = vtkSmartPointer::New (); tuber->SetInputConnection (line->GetOutputPort ()); tuber->SetRadius (radius); tuber->SetNumberOfSides (numsides); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(tuber->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New (); actor->SetMapper(mapper); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::CylinderWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// cylinder widget implementation cv::viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color) { vtkSmartPointer cube = vtkSmartPointer::New (); cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInput(cube->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); if (wire_frame) actor->GetProperty ()->SetRepresentationToWireframe (); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::CubeWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// coordinate system widget implementation cv::viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale) { vtkSmartPointer axes = vtkSmartPointer::New (); axes->SetOrigin (0, 0, 0); axes->SetScaleFactor (scale); vtkSmartPointer axes_colors = vtkSmartPointer::New (); axes_colors->Allocate (6); axes_colors->InsertNextValue (0.0); axes_colors->InsertNextValue (0.0); axes_colors->InsertNextValue (0.5); axes_colors->InsertNextValue (0.5); axes_colors->InsertNextValue (1.0); axes_colors->InsertNextValue (1.0); vtkSmartPointer axes_data = axes->GetOutput (); axes_data->Update (); axes_data->GetPointData ()->SetScalars (axes_colors); vtkSmartPointer axes_tubes = vtkSmartPointer::New (); axes_tubes->SetInput (axes_data); axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0); axes_tubes->SetNumberOfSides (6); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetScalarModeToUsePointData (); mapper->SetInput(axes_tubes->GetOutput ()); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); WidgetAccessor::setProp(*this, actor); } template<> cv::viz::CoordinateSystemWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// polyline widget implementation struct cv::viz::PolyLineWidget::CopyImpl { template static void copy(const Mat& source, Vec<_Tp, 3> *output, vtkSmartPointer 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); } } } }; cv::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 points = vtkSmartPointer::New (); vtkSmartPointer polyData = vtkSmartPointer::New (); vtkSmartPointer polyLine = vtkSmartPointer::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(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(points); CopyImpl::copy(pointData, data_beg, polyLine); } vtkSmartPointer cells = vtkSmartPointer::New(); cells->InsertNextCell(polyLine); polyData->SetPoints(points); polyData->SetLines(cells); vtkSmartPointer mapper = vtkSmartPointer::New(); mapper->SetInput(polyData); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::PolyLineWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// grid widget implementation cv::viz::GridWidget::GridWidget(Vec2i dimensions, Vec2d spacing, const Color &color) { // Create the grid using image data vtkSmartPointer grid = vtkSmartPointer::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 mapper = vtkSmartPointer::New(); mapper->SetInput(grid); vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetMapper(mapper); // Show it as wireframe actor->GetProperty ()->SetRepresentationToWireframe (); WidgetAccessor::setProp(*this, actor); setColor(color); } template<> cv::viz::GridWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// text3D widget implementation cv::viz::Text3DWidget::Text3DWidget(const String &text, const Point3f &position, double text_scale, const Color &color) { vtkSmartPointer textSource = vtkSmartPointer::New (); textSource->SetText (text.c_str()); textSource->Update (); vtkSmartPointer mapper = vtkSmartPointer::New (); mapper->SetInputConnection (textSource->GetOutputPort ()); vtkSmartPointer actor = vtkSmartPointer::New (); actor->SetMapper (mapper); actor->SetPosition (position.x, position.y, position.z); actor->SetScale (text_scale); WidgetAccessor::setProp(*this, actor); setColor(color); } void cv::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(); } cv::String cv::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<> cv::viz::Text3DWidget cv::viz::Widget::cast() { Widget3D widget = this->cast(); return static_cast(widget); } /////////////////////////////////////////////////////////////////////////////////////////////// /// text widget implementation cv::viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) { vtkSmartPointer actor = vtkSmartPointer::New(); actor->SetPosition (pos.x, pos.y); actor->SetInput (text.c_str ()); vtkSmartPointer tprop = actor->GetTextProperty (); tprop->SetFontSize (font_size); tprop->SetFontFamilyToArial (); tprop->SetJustificationToLeft (); tprop->BoldOn (); Color c = vtkcolor(color); tprop->SetColor (c.val); WidgetAccessor::setProp(*this, actor); } template<> cv::viz::TextWidget cv::viz::Widget::cast() { Widget2D widget = this->cast(); return static_cast(widget); } void cv::viz::TextWidget::setText(const String &text) { vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this)); CV_Assert(actor); actor->SetInput(text.c_str()); } cv::String cv::viz::TextWidget::getText() const { vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this)); CV_Assert(actor); return actor->GetInput(); }