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renamed Spheres Trajectory, minor changes in Trajectory

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This commit is contained in:
Anatoly Baksheev 2013-12-08 17:12:02 +04:00
parent c7ff13873d
commit 54fa69cab2
3 changed files with 25 additions and 25 deletions
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28
modules/viz/doc/widget.rst
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@ -729,10 +729,10 @@ This 3D Widget represents a trajectory. ::
class CV_EXPORTS WTrajectory : public Widget3D class CV_EXPORTS WTrajectory : public Widget3D
{ {
public: public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2}; 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::DISPLAY_PATH, const Color &color = Color::white(), float scale = 1.0); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, const Color &color = Color::white(), float scale = 1.0);
//! 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 = 1.0, const Color &color = Color::white()); 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 //! Displays trajectory of the given path by frustums
@ -746,18 +746,18 @@ viz::WTrajectory::WTrajectory
----------------------------- -----------------------------
Constructs a WTrajectory. Constructs a WTrajectory.
.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), float scale = 1.0) .. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, const Color &color = Color::white(), float scale = 1.0)
:param path: List of poses on a trajectory. :param path: List of poses on a trajectory.
:param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES. :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 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.
Displays trajectory of the given path as follows: Displays trajectory of the given path as follows:
* DISPLAY_PATH : Displays a poly line that represents the path. * PATH : Displays a poly line that represents the path.
* DISPLAY_FRAMES : Displays coordinate frames at each pose. * FRAMES : Displays coordinate frames at each pose.
* DISPLAY_PATH & DISPLAY_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()) .. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
@ -777,26 +777,26 @@ Constructs a WTrajectory.
Displays frustums at each pose of the trajectory. Displays frustums at each pose of the trajectory.
viz::WSpheresTrajectory viz::WTrajectorySpheres
----------------------- -----------------------
.. ocv:class:: WSpheresTrajectory .. ocv:class:: WTrajectorySpheres
This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines
represent the direction from previous position to the current. :: represent the direction from previous position to the current. ::
class CV_EXPORTS WSpheresTrajectory : public Widget3D class CV_EXPORTS WTrajectorySpheres : public Widget3D
{ {
public: public:
WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length = 0.05f,
float init_sphere_radius = 0.021, sphere_radius = 0.007, float init_sphere_radius = 0.021, sphere_radius = 0.007,
Color &line_color = Color::white(), const Color &sphere_color = Color::white()); Color &line_color = Color::white(), const Color &sphere_color = Color::white());
}; };
viz::WSpheresTrajectory::WSpheresTrajectory viz::WTrajectorySpheres::WTrajectorySpheres
------------------------------------------- -------------------------------------------
Constructs a WSpheresTrajectory. Constructs a WTrajectorySpheres.
.. ocv:function:: WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white()) .. ocv:function:: WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
:param path: List of poses on a trajectory. :param path: List of poses on a trajectory.
:param line_length: Length of the lines. :param line_length: Length of the lines.

12
modules/viz/include/opencv2/viz/widgets.hpp
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@ -257,21 +257,21 @@ namespace cv
class CV_EXPORTS WTrajectory : public Widget3D class CV_EXPORTS WTrajectory : public Widget3D
{ {
public: public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2}; 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::DISPLAY_PATH, const Color &color = Color::white(), float scale = 1.f); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, const Color &color = Color::white(), float scale = 1.f);
//! 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()); WTrajectory(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()); WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
}; };
class CV_EXPORTS WSpheresTrajectory: public Widget3D class CV_EXPORTS WTrajectorySpheres: public Widget3D
{ {
public: public:
WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021f, WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021f,
float sphere_radius = 0.007f, const Color &line_color = Color::white(), const Color &sphere_color = Color::white()); float sphere_radius = 0.007f, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
}; };
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
@ -330,7 +330,7 @@ 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 WSpheresTrajectory Widget::cast<WSpheresTrajectory>(); 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>();
template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>(); template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>();

10
modules/viz/src/shape_widgets.cpp
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@ -1240,7 +1240,7 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New(); vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
// Bitwise and with 3 in order to limit the domain to 2 bits // Bitwise and with 3 in order to limit the domain to 2 bits
if ((~display_mode & 3) ^ WTrajectory::DISPLAY_PATH) if ((~display_mode & 3) ^ WTrajectory::PATH)
{ {
// Create a poly line along the path // Create a poly line along the path
vtkIdType nr_points = path.size(); vtkIdType nr_points = path.size();
@ -1284,7 +1284,7 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display
#endif #endif
} }
if ((~display_mode & 3) ^ WTrajectory::DISPLAY_FRAMES) if ((~display_mode & 3) ^ WTrajectory::FRAMES)
{ {
// Create frames and transform along the path // Create frames and transform along the path
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New(); vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
@ -1424,7 +1424,7 @@ template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// spheres trajectory widget implementation /// spheres trajectory widget implementation
cv::viz::WSpheresTrajectory::WSpheresTrajectory(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)
{ {
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New(); vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
@ -1505,8 +1505,8 @@ cv::viz::WSpheresTrajectory::WSpheresTrajectory(const std::vector<Affine3f> &pat
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
template<> cv::viz::WSpheresTrajectory cv::viz::Widget::cast<cv::viz::WSpheresTrajectory>() template<> cv::viz::WTrajectorySpheres cv::viz::Widget::cast<cv::viz::WTrajectorySpheres>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<WSpheresTrajectory&>(widget); return static_cast<WTrajectorySpheres&>(widget);
} }