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set/get/updateWidgetPose implemented, cloudNormals with color

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This commit is contained in:
ozantonkal 2013-07-08 18:56:13 +02:00
parent e76023be96
commit 658e4c5e97
7 changed files with 102 additions and 9 deletions
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4
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -48,6 +48,10 @@ namespace temp_viz
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
bool removeWidget(const String &id);
bool setWidgetPose(const String &id, const Affine3f &pose);
bool updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const;
private:
Viz3d(const Viz3d&);
Viz3d& operator=(const Viz3d&);

2
modules/viz/include/opencv2/viz/widgets.hpp
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@ -108,7 +108,7 @@ namespace temp_viz
class CV_EXPORTS CloudNormalsWidget : public Widget
{
public:
CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f);
CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
private:
struct ApplyCloudNormals;
};

4
modules/viz/src/q/viz3d_impl.hpp
View File

@ -202,6 +202,10 @@ public:
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
bool removeWidget(const String &id);
bool setWidgetPose(const String &id, const Affine3f &pose);
bool updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const;
void all_data();
private:

3
modules/viz/src/simple_widgets.cpp
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@ -616,7 +616,7 @@ struct temp_viz::CloudNormalsWidget::ApplyCloudNormals
}
};
temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale)
temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color)
{
Mat cloud = _cloud.getMat();
Mat normals = _normals.getMat();
@ -663,4 +663,5 @@ temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetMapper(mapper);
setColor(color);
}

15
modules/viz/src/viz3d.cpp
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@ -88,3 +88,18 @@ bool temp_viz::Viz3d::removeWidget(const String &id)
{
return impl_->removeWidget(id);
}
bool temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
{
return impl_->setWidgetPose(id, pose);
}
bool temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
{
return impl_->updateWidgetPose(id, pose);
}
temp_viz::Affine3f temp_viz::Viz3d::getWidgetPose(const String &id) const
{
return impl_->getWidgetPose(id);
}

66
modules/viz/src/viz3d_impl.cpp
View File

@ -899,3 +899,69 @@ bool temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
widget_actor_map_->erase(wam_itr);
return true;
}
bool temp_viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
if (!exists)
{
return std::cout << "[setWidgetPose] A widget with id <" << id << "> does not exist!" << std::endl, false;
}
vtkLODActor *actor;
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
return true;
}
return false;
}
bool temp_viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
if (!exists)
{
return std::cout << "[setWidgetPose] A widget with id <" << id << "> does not exist!" << std::endl, false;
}
vtkLODActor *actor;
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setWidgetPose(id, pose);
return true;
}
Matx44f matrix_cv = convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = convertToVtkMatrix(updated_pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
return true;
}
return false;
}
temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
{
WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
if (!exists)
{
return Affine3f();
}
vtkLODActor *actor;
if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
{
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);
}
return Affine3f();
}

17
modules/viz/test/test_viz3d.cpp
View File

@ -52,18 +52,16 @@
cv::Mat cvcloud_load()
{
cv::Mat cloud(1, 20000, CV_64FC4);
std::ifstream ifs("cloud_dragon.ply");
cv::Mat cloud(1, 20000, CV_32FC3);
std::ifstream ifs("d:/cloud_dragon.ply");
std::string str;
for(size_t i = 0; i < 11; ++i)
std::getline(ifs, str);
cv::Vec4d* data = cloud.ptr<cv::Vec4d>();
for(size_t i = 0; i < 20000; ++i){
ifs >> data[i][0] >> data[i][1] >> data[i][2];
data[i][3] = 1.0;
}
cv::Point3f* data = cloud.ptr<cv::Point3f>();
for(size_t i = 0; i < 20000; ++i)
ifs >> data[i].x >> data[i].y >> data[i].z;
return cloud;
}
@ -148,6 +146,11 @@ TEST(Viz_viz3d, accuracy)
// v.showWidget("pcw2",pcw2, cloudPosition2);
// v.showWidget("plane", pw, cloudPosition);
v.setWidgetPose("n",cloudPosition);
v.setWidgetPose("pcw2", cloudPosition);
cnw.setColor(temp_viz::Color(col_blue, col_green, col_red));
pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
angle_x += 0.1f;
angle_y -= 0.1f;
angle_z += 0.1f;