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initial CameraPositionWidget implementation using eye, look_at, up_vector

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This commit is contained in:
ozantonkal 2013-07-18 10:39:34 +02:00
parent 40e47e6f3f
commit 3260404fdf
3 changed files with 110 additions and 17 deletions
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8
modules/viz/include/opencv2/viz/widgets.hpp
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@ -1,6 +1,7 @@
#pragma once
#include <opencv2/viz/types.hpp>
#include <common.h>
namespace cv
@ -162,6 +163,13 @@ namespace cv
private:
struct CopyImpl;
};
class CV_EXPORTS CameraPositionWidget : public Widget3D
{
public:
CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0);
};
class CV_EXPORTS CloudWidget : public Widget3D
{

70
modules/viz/src/shape_widgets.cpp
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@ -774,4 +774,74 @@ template<> cv::viz::Image3DWidget cv::viz::Widget::cast<cv::viz::Image3DWidget>(
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<Image3DWidget&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// camera position widget implementation
cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3f u,v,n;
n = normalize(look_at - position);
u = normalize(up_vector.cross(n));
v = n.cross(u);
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->SetElement(0,0,u[0]);
mat_trans->SetElement(0,1,u[1]);
mat_trans->SetElement(0,2,u[2]);
mat_trans->SetElement(1,0,v[0]);
mat_trans->SetElement(1,1,v[1]);
mat_trans->SetElement(1,2,v[2]);
mat_trans->SetElement(2,0,n[0]);
mat_trans->SetElement(2,1,n[1]);
mat_trans->SetElement(2,2,n[2]);
// Inverse rotation (orthogonal, so just take transpose)
mat_trans->Transpose();
// Then translate the coordinate frame to camera position
mat_trans->SetElement(0,3,position[0]);
mat_trans->SetElement(1,3,position[1]);
mat_trans->SetElement(2,3,position[2]);
mat_trans->SetElement(3,3,1);
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::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<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
// Transform the default coordinate frame
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->SetMatrix(mat_trans);
vtkSmartPointer<vtkTransformPolyDataFilter> filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
filter->SetInput(axes_data);
filter->SetTransform(transform);
filter->Update();
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
axes_tubes->SetInput (filter->GetOutput());
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetScalarModeToUsePointData ();
mapper->SetInput(axes_tubes->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}

49
modules/viz/test/test_viz3d.cpp
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@ -43,6 +43,7 @@
#include <opencv2/viz.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <fstream>
#include <string>
@ -89,7 +90,7 @@ TEST(Viz_viz3d, accuracy)
viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green());
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0), 5.0);
viz::SphereWidget sw(Point3f(0, 0, 0), 0.5);
viz::SphereWidget sw(Point3f(0, 0, 0), 0.2);
viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), 0.01, viz::Color::red());
viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green());
viz::CylinderWidget cyw(Point3f(0, 0, 0), Point3f(-1, -1, -1), 0.5, 30, viz::Color::green());
@ -99,18 +100,18 @@ TEST(Viz_viz3d, accuracy)
viz::CloudWidget pcw(cloud, colors);
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
viz.showWidget("line", lw);
viz.showWidget("plane", pw);
// viz.showWidget("line", lw);
// viz.showWidget("plane", pw);
viz.showWidget("sphere", sw);
viz.showWidget("arrow", aw);
viz.showWidget("circle", cw);
viz.showWidget("cylinder", cyw);
viz.showWidget("cube", cuw);
// viz.showWidget("arrow", aw);
// viz.showWidget("circle", cw);
// viz.showWidget("cylinder", cyw);
// viz.showWidget("cube", cuw);
viz.showWidget("coordinateSystem", csw);
viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
viz.showWidget("text",tw);
viz.showWidget("pcw",pcw);
viz.showWidget("pcw2",pcw2);
// viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
// viz.showWidget("text",tw);
// viz.showWidget("pcw",pcw);
// viz.showWidget("pcw2",pcw2);
// viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
@ -125,13 +126,26 @@ TEST(Viz_viz3d, accuracy)
viz::PolyLineWidget plw(points, viz::Color::green());
viz.showWidget("polyline", plw);
// viz.showWidget("polyline", plw);
// lw = v.getWidget("polyline").cast<viz::LineWidget>();
viz::Mesh3d::Ptr mesh = cv::viz::Mesh3d::loadMesh("horse.ply");
viz::Mesh3d mesh = cv::viz::Mesh3d::loadMesh("horse.ply");
viz::MeshWidget mw(*mesh);
viz.showWidget("mesh", mw);
viz::MeshWidget mw(mesh);
// viz.showWidget("mesh", mw);
Mat img = imread("opencv.png");
// resize(img, img, Size(50,50));
// viz.showWidget("img", viz::ImageOverlayWidget(img, Point2i(50,50)));
viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
viz.showWidget("CameraPositionWidget", cpw);
viz.showWidget("camera_label", t3w1);
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);
viz.spin();
@ -156,13 +170,14 @@ TEST(Viz_viz3d, accuracy)
//plw.setColor(viz::Color(col_blue, col_green, col_red));
sw.setPose(cloudPosition);
// sw.setPose(cloudPosition);
// pw.setPose(cloudPosition);
aw.setPose(cloudPosition);
cw.setPose(cloudPosition);
cyw.setPose(cloudPosition);
// lw.setPose(cloudPosition);
cuw.setPose(cloudPosition);
// cpw.updatePose(Affine3f(0.1,0.0,0.0, cv::Vec3f(0.0,0.0,0.0)));
// cpw.setPose(cloudPosition);
// cnw.setPose(cloudPosition);
// v.showWidget("pcw",pcw, cloudPosition);
// v.showWidget("pcw2",pcw2, cloudPosition2);