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intial implementation of frustum + image (the color of the frustum is currently dependent on the first pixel of the image)

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This commit is contained in:
ozantonkal 2013-07-23 15:43:23 +02:00
parent f9938da67d
commit 4d70671231
2 changed files with 153 additions and 0 deletions
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4
modules/viz/include/opencv2/viz/widgets.hpp
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@ -174,6 +174,10 @@ namespace cv
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());
CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0);
private:
struct CopyImpl;
};
class CV_EXPORTS TrajectoryWidget : public Widget3D

149
modules/viz/src/shape_widgets.cpp
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@ -918,6 +918,58 @@ template<> cv::viz::Image3DWidget cv::viz::Widget::cast<cv::viz::Image3DWidget>(
///////////////////////////////////////////////////////////////////////////////////////////////
/// camera position widget implementation
struct cv::viz::CameraPositionWidget::CopyImpl
{
struct Impl
{
static void copyImageMultiChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
{
int i_chs = image.channels();
for (int i = 0; i < image.rows; ++i)
{
const unsigned char * irows = image.ptr<unsigned char>(i);
for (int j = 0; j < image.cols; ++j, irows += i_chs)
{
unsigned char * vrows = static_cast<unsigned char *>(output->GetScalarPointer(j,i,0));
memcpy(vrows, irows, i_chs);
std::swap(vrows[0], vrows[2]); // BGR -> RGB
}
}
output->Modified();
}
static void copyImageSingleChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
{
for (int i = 0; i < image.rows; ++i)
{
const unsigned char * irows = image.ptr<unsigned char>(i);
for (int j = 0; j < image.cols; ++j, ++irows)
{
unsigned char * vrows = static_cast<unsigned char *>(output->GetScalarPointer(j,i,0));
*vrows = *irows;
}
}
output->Modified();
}
};
static void copyImage(const Mat &image, vtkSmartPointer<vtkImageData> output)
{
int i_chs = image.channels();
if (i_chs > 1)
{
// Multi channel images are handled differently because of BGR <-> RGB
Impl::copyImageMultiChannel(image, output);
}
else
{
Impl::copyImageSingleChannel(image, output);
}
}
};
cv::viz::CameraPositionWidget::CameraPositionWidget(double scale)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
@ -1099,6 +1151,103 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double sca
setColor(color);
}
cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat &image, double scale)
{
CV_Assert(!image.empty() && image.depth() == CV_8U);
// Create a camera
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float f_x = K(0,0);
float f_y = K(1,1);
float c_y = K(1,2);
float aspect_ratio = float(image.cols)/float(image.rows);
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
float far_end_height = 2.0f * c_y * scale / f_y;
// Create the vtk image and set its parameters based on input image
vtkSmartPointer<vtkImageData> vtk_image = vtkSmartPointer<vtkImageData>::New();
vtk_image->SetDimensions(image.cols, image.rows, 1);
vtk_image->SetNumberOfScalarComponents(image.channels());
vtk_image->SetScalarTypeToUnsignedChar();
vtk_image->AllocateScalars();
CopyImpl::copyImage(image, vtk_image);
// Need to flip the image as the coordinates are different in OpenCV and VTK
vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
flipFilter->SetFilteredAxis(1); // Vertical flip
flipFilter->SetInputConnection(vtk_image->GetProducerPort());
flipFilter->Update();
Vec3d plane_center(0.0, 0.0, scale);
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
plane->SetCenter(plane_center[0], plane_center[1], plane_center[2]);
plane->SetNormal(0.0, 0.0, 1.0);
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->Translate(plane_center[0], plane_center[1], plane_center[2]);
transform->Scale(far_end_height*aspect_ratio, far_end_height, 1.0);
transform->RotateY(180.0);
transform->Translate(-plane_center[0], -plane_center[1], -plane_center[2]);
// Apply the texture
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
texture->SetInputConnection(flipFilter->GetOutputPort());
vtkSmartPointer<vtkTextureMapToPlane> texturePlane = vtkSmartPointer<vtkTextureMapToPlane>::New();
texturePlane->SetInputConnection(plane->GetOutputPort());
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
transform_filter->SetInputConnection(texturePlane->GetOutputPort());
transform_filter->Update();
// Create frustum
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);
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();
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInput(frustumSource->GetOutput());
filter->Update();
// Frustum needs to be textured or else it can't be combined with image
vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
frustum_texture->SetInputConnection(filter->GetOutputPort());
// Texture mapping with only one pixel from the image to have constant color
frustum_texture->SetSRange(0.0, 0.0);
frustum_texture->SetTRange(0.0, 0.0);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
appendFilter->AddInputConnection(frustum_texture->GetOutputPort());
appendFilter->AddInputConnection(transform_filter->GetOutputPort());
vtkSmartPointer<vtkPolyDataMapper> planeMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
planeMapper->SetInputConnection(appendFilter->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(planeMapper);
actor->SetTexture(texture);
WidgetAccessor::setProp(*this, actor);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// trajectory widget implementation