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refactored Trajectory: split into Trajectory and TrajectoryFrustums)

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This commit is contained in:
Anatoly Baksheev 2013-12-08 18:07:16 +04:00
parent 54fa69cab2
commit 31d42ce18f
3 changed files with 52 additions and 25 deletions
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36
modules/viz/doc/widget.rst
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@ -732,26 +732,19 @@ This 3D Widget represents a trajectory. ::
enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH}; enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH};
//! Displays trajectory of the given path either by coordinate frames or polyline //! Displays trajectory of the given path either by coordinate frames or polyline
WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, const Color &color = Color::white(), float scale = 1.0); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white(),;
//! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
//! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
private:
/* hidden */
}; };
viz::WTrajectory::WTrajectory viz::WTrajectory::WTrajectory
----------------------------- -----------------------------
Constructs a WTrajectory. Constructs a WTrajectory.
.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, const Color &color = Color::white(), float scale = 1.0) .. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white())
:param path: List of poses on a trajectory. :param path: List of poses on a trajectory.
:param display_mode: Display mode. This can be PATH, FRAMES, and BOTH. :param display_mode: Display mode. This can be PATH, FRAMES, and BOTH.
:param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected.
:param scale: Scale of the frames. Polyline is not affected. :param scale: Scale of the frames. Polyline is not affected.
:param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected.
Displays trajectory of the given path as follows: Displays trajectory of the given path as follows:
@ -759,7 +752,26 @@ Constructs a WTrajectory.
* FRAMES : Displays coordinate frames at each pose. * FRAMES : Displays coordinate frames at each pose.
* PATH & FRAMES : Displays both poly line and coordinate frames. * PATH & FRAMES : Displays both poly line and coordinate frames.
.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white()) viz::WTrajectoryFrustums
----------------
.. ocv:class:: WTrajectoryFrustums
This 3D Widget represents a trajectory. ::
class CV_EXPORTS WTrajectoryFrustums : public Widget3D
{
public:
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
};
viz::WTrajectoryFrustums::WTrajectoryFrustums
-----------------------------
Constructs a WTrajectoryFrustums.
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
:param path: List of poses on a trajectory. :param path: List of poses on a trajectory.
:param K: Intrinsic matrix of the camera. :param K: Intrinsic matrix of the camera.
@ -768,7 +780,7 @@ Constructs a WTrajectory.
Displays frustums at each pose of the trajectory. Displays frustums at each pose of the trajectory.
.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
:param path: List of poses on a trajectory. :param path: List of poses on a trajectory.
:param fov: Field of view of the camera (horizontal, vertical). :param fov: Field of view of the camera (horizontal, vertical).

20
modules/viz/include/opencv2/viz/widgets.hpp
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@ -245,13 +245,13 @@ namespace cv
//! Creates camera coordinate frame (axes) at the origin //! Creates camera coordinate frame (axes) at the origin
WCameraPosition(float scale = 1.f); WCameraPosition(float scale = 1.f);
//! Creates frustum based on the intrinsic marix K at the origin //! Creates frustum based on the intrinsic marix K at the origin
WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white()); explicit WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
//! Creates frustum based on the field of view at the origin //! Creates frustum based on the field of view at the origin
WCameraPosition(const Vec2f &fov, float scale = 1.f, const Color &color = Color::white()); explicit WCameraPosition(const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane //! Creates frustum and display given image at the far plane
WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white()); explicit WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane //! Creates frustum and display given image at the far plane
WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white()); explicit WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
}; };
class CV_EXPORTS WTrajectory : public Widget3D class CV_EXPORTS WTrajectory : public Widget3D
@ -260,11 +260,16 @@ namespace cv
enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH }; enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH };
//! Displays trajectory of the given path either by coordinate frames or polyline //! Displays trajectory of the given path either by coordinate frames or polyline
WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, const Color &color = Color::white(), float scale = 1.f); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white());
};
class CV_EXPORTS WTrajectoryFrustums : public Widget3D
{
public:
//! Displays trajectory of the given path by frustums //! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white()); explicit WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
//! Displays trajectory of the given path by frustums //! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white()); explicit WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
}; };
class CV_EXPORTS WTrajectorySpheres: public Widget3D class CV_EXPORTS WTrajectorySpheres: public Widget3D
@ -330,6 +335,7 @@ namespace cv
template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>(); template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>();
template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>(); template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>();
template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>(); template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>();
template<> CV_EXPORTS WTrajectoryFrustums Widget::cast<WTrajectoryFrustums>();
template<> CV_EXPORTS WTrajectorySpheres Widget::cast<WTrajectorySpheres>(); template<> CV_EXPORTS WTrajectorySpheres Widget::cast<WTrajectorySpheres>();
template<> CV_EXPORTS WCloud Widget::cast<WCloud>(); template<> CV_EXPORTS WCloud Widget::cast<WCloud>();
template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>(); template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>();

21
modules/viz/src/shape_widgets.cpp
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@ -1235,7 +1235,7 @@ namespace cv { namespace viz { namespace
}; };
}}} }}}
cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display_mode, const Color &color, float scale) cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display_mode, float scale, const Color &color)
{ {
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New(); vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
@ -1331,7 +1331,16 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale, const Color &color) template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WTrajectory&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// WTrajectoryFrustums widget implementation
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float f_x = K(0,0); float f_x = K(0,0);
@ -1375,7 +1384,7 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Matx3
setColor(color); setColor(color);
} }
cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale, const Color &color) cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
@ -1415,14 +1424,14 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Vec2f
setColor(color); setColor(color);
} }
template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>() template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast<cv::viz::WTrajectoryFrustums>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<WTrajectory&>(widget); return static_cast<WTrajectoryFrustums&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// spheres trajectory widget implementation /// WTrajectorySpheres widget implementation
cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length, float init_sphere_radius, float sphere_radius, cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length, float init_sphere_radius, float sphere_radius,
const Color &line_color, const Color &sphere_color) const Color &line_color, const Color &sphere_color)