From 0a3691d6acb76c8a557237bc964aa97ada6400a9 Mon Sep 17 00:00:00 2001
From: ozantonkal <ozantonkal@gmail.com>
Date: Fri, 19 Jul 2013 18:30:12 +0200
Subject: [PATCH] CameraPositionWidget: constructor with Vec2f fov (tentative)
---
modules/viz/include/opencv2/viz/widgets.hpp | 1 +
modules/viz/src/shape_widgets.cpp | 40 ++++++++++++++++++++-
2 files changed, 40 insertions(+), 1 deletion(-)
diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index 23ce27fea..7eeaa5d77 100644
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -170,6 +170,7 @@ namespace cv
CameraPositionWidget(double scale = 1.0);
CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0);
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+ CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
};
class CV_EXPORTS CloudWidget : public Widget3D
diff --git a/modules/viz/src/shape_widgets.cpp b/modules/viz/src/shape_widgets.cpp
index a55ecafb9..6c75b24c7 100644
--- a/modules/viz/src/shape_widgets.cpp
+++ b/modules/viz/src/shape_widgets.cpp
@@ -895,7 +895,7 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, double sca
camera->SetPosition(0.0,0.0,0.0);
camera->SetViewUp(0.0,1.0,0.0);
camera->SetFocalPoint(0.0,0.0,1.0);
- camera->SetClippingRange(0.01, scale * f_y * 0.001);
+ camera->SetClippingRange(0.01, scale);
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
@@ -922,3 +922,41 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, double sca
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
+
+
+cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double scale, const Color &color)
+{
+ vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
+
+ camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
+ camera->SetPosition(0.0,0.0,0.0);
+ camera->SetViewUp(0.0,1.0,0.0);
+ camera->SetFocalPoint(0.0,0.0,1.0);
+ camera->SetClippingRange(0.01, scale);
+
+ double planesArray[24];
+ // Default aspect ratio = 1.0? fovx/fovy?
+ camera->GetFrustumPlanes(1.0, planesArray);
+
+ vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
+ planes->SetFrustumPlanes(planesArray);
+
+ vtkSmartPointer<vtkFrustumSource> frustumSource =
+ vtkSmartPointer<vtkFrustumSource>::New();
+ frustumSource->SetPlanes(planes);
+ frustumSource->Update();
+
+ // Extract the edges so we have the grid
+ vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
+ filter->SetInput(frustumSource->GetOutput());
+ filter->Update();
+
+ vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+ mapper->SetInput(filter->GetOutput());
+
+ vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+ actor->SetMapper(mapper);
+
+ WidgetAccessor::setProp(*this, actor);
+ setColor(color);
+}