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refactored frustum trajectory to use glyphs

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This commit is contained in:
Anatoly Baksheev 2014-01-07 22:35:21 +04:00
parent 42dc90295d
commit 4833976a0c
4 changed files with 39 additions and 102 deletions
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8
modules/viz/doc/widget.rst
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@ -762,9 +762,9 @@ This 3D Widget represents a trajectory. ::
{
public:
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
};
viz::WTrajectoryFrustums::WTrajectoryFrustums
@ -773,7 +773,7 @@ Constructs a WTrajectoryFrustums.
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
:param path: List of poses on a trajectory.
:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
:param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustums.
:param color: :ocv:class:`Color` of the frustums.
@ -782,7 +782,7 @@ Constructs a WTrajectoryFrustums.
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
:param path: List of poses on a trajectory.
:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
:param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustums.
:param color: :ocv:class:`Color` of the frustums.

9
modules/viz/include/opencv2/viz/widgets.hpp
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@ -269,10 +269,11 @@ namespace cv
class CV_EXPORTS WTrajectoryFrustums : public Widget3D
{
public:
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
//! Takes vector<Affine3<T>> and displays trajectory of the given path by frustums
WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
//! Takes vector<Affine3<T>> and displays trajectory of the given path by frustums
WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
};
class CV_EXPORTS WTrajectorySpheres: public Widget3D

122
modules/viz/src/shapes.cpp
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@ -1056,41 +1056,6 @@ template<> cv::viz::WCameraPosition cv::viz::Widget::cast<cv::viz::WCameraPositi
///////////////////////////////////////////////////////////////////////////////////////////////
/// trajectory widget implementation
namespace cv { namespace viz { namespace
{
struct TrajectoryUtils
{
static void applyPath(vtkSmartPointer<vtkPolyData> poly_data, vtkSmartPointer<vtkAppendPolyData> append_filter, const std::vector<Affine3d> &path)
{
vtkIdType nr_points = path.size();
for (vtkIdType i = 0; i < nr_points; ++i)
{
vtkSmartPointer<vtkPolyData> new_data = vtkSmartPointer<vtkPolyData>::New();
new_data->DeepCopy(poly_data);
// Transform the default coordinate frame
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans = vtkmatrix(path[i].matrix);
transform->SetMatrix(mat_trans);
vtkSmartPointer<vtkTransformPolyDataFilter> filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
#if VTK_MAJOR_VERSION <= 5
filter->SetInput(new_data);
#else
filter->SetInputData(new_data);
#endif
filter->SetTransform(transform);
filter->Update();
append_filter->AddInputConnection(filter->GetOutputPort());
}
}
};
}}}
cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double scale, const Color &color)
{
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
@ -1103,7 +1068,6 @@ cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double sca
appendFilter->AddInputConnection(polydata->GetProducerPort());
}
vtkSmartPointer<vtkTensorGlyph> tensor_glyph;
if (display_mode & WTrajectory::FRAMES)
{
vtkSmartPointer<vtkTrajectorySource> source = vtkSmartPointer<vtkTrajectorySource>::New();
@ -1111,7 +1075,7 @@ cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double sca
vtkSmartPointer<vtkPolyData> glyph = getPolyData(WCoordinateSystem(scale));
tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
tensor_glyph->SetInputConnection(source->GetOutputPort());
tensor_glyph->SetSourceConnection(glyph->GetProducerPort());
tensor_glyph->ExtractEigenvaluesOff(); // Treat as a rotation matrix, not as something with eigenvalues
@ -1142,42 +1106,26 @@ template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// WTrajectoryFrustums widget implementation
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale, const Color &color)
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Matx33d &K, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
double f_x = K(0,0);
double f_y = K(1,1);
double c_y = K(1,2);
double aspect_ratio = f_y / f_x;
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
double fovy = 2.0 * atan2(c_y, f_y) * 180 / CV_PI;
vtkSmartPointer<vtkTrajectorySource> source = vtkSmartPointer<vtkTrajectorySource>::New();
source->SetTrajectory(_path);
camera->SetViewAngle(fovy);
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);
vtkSmartPointer<vtkPolyData> glyph = getPolyData(WCameraPosition(K, scale));
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
tensor_glyph->SetInputConnection(source->GetOutputPort());
tensor_glyph->SetSourceConnection(glyph->GetProducerPort());
tensor_glyph->ExtractEigenvaluesOff(); // Treat as a rotation matrix, not as something with eigenvalues
tensor_glyph->ThreeGlyphsOff();
tensor_glyph->SymmetricOff();
tensor_glyph->ColorGlyphsOff();
tensor_glyph->Update();
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
// Extract the edges
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInputConnection(frustumSource->GetOutputPort());
filter->Update();
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
TrajectoryUtils::applyPath(filter->GetOutput(), appendFilter, path);
vtkSmartPointer<vtkPolyData> polydata = tensor_glyph->GetOutput();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(appendFilter->GetOutputPort());
mapper->SetInputConnection(polydata->GetProducerPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
@ -1186,38 +1134,26 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &p
setColor(color);
}
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale, const Color &color)
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Vec2d &fov, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
vtkSmartPointer<vtkTrajectorySource> source = vtkSmartPointer<vtkTrajectorySource>::New();
source->SetTrajectory(_path);
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);
vtkSmartPointer<vtkPolyData> glyph = getPolyData(WCameraPosition(fov, scale));
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
tensor_glyph->SetInputConnection(source->GetOutputPort());
tensor_glyph->SetSourceConnection(glyph->GetProducerPort());
tensor_glyph->ExtractEigenvaluesOff(); // Treat as a rotation matrix, not as something with eigenvalues
tensor_glyph->ThreeGlyphsOff();
tensor_glyph->SymmetricOff();
tensor_glyph->ColorGlyphsOff();
tensor_glyph->Update();
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
// Extract the edges
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInputConnection(frustumSource->GetOutputPort());
filter->Update();
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
TrajectoryUtils::applyPath(filter->GetOutput(), appendFilter, path);
vtkSmartPointer<vtkPolyData> polydata = tensor_glyph->GetOutput();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(appendFilter->GetOutputPort());
mapper->SetInputConnection(polydata->GetProducerPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);

2
modules/viz/src/types.cpp
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@ -245,6 +245,6 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44d &proj) const
cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
{
Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0) ;
Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0);
return Camera(K, window_size);
}