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trajectory widget constructor with field of view

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This commit is contained in:
ozantonkal 2013-07-25 15:08:45 +02:00
parent 7d458e852e
commit 64cdd82146
2 changed files with 42 additions and 2 deletions
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1
modules/viz/include/opencv2/viz/widgets.hpp
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@ -184,6 +184,7 @@ namespace cv
TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0); TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); // Camera frustums TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
private: private:
struct ApplyPath; struct ApplyPath;

43
modules/viz/src/shape_widgets.cpp
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@ -1248,8 +1248,6 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, i
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale, const Color &color) cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale, const Color &color)
{ {
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float f_x = K(0,0); float f_x = K(0,0);
float f_y = K(1,1); float f_y = K(1,1);
@ -1279,6 +1277,47 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c
filter->SetInput(frustumSource->GetOutput()); filter->SetInput(frustumSource->GetOutput());
filter->Update(); filter->Update();
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
ApplyPath::applyPath(filter->GetOutput(), appendFilter, path);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInput(appendFilter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
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);
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
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->SetInput(frustumSource->GetOutput());
filter->Update();
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
ApplyPath::applyPath(filter->GetOutput(), appendFilter, path); ApplyPath::applyPath(filter->GetOutput(), appendFilter, path);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();