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Gridwidget with plane coefficients

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This commit is contained in:
ozantonkal 2013-07-24 10:02:33 +02:00
parent 40b50755d3
commit 6e5a712f6e
2 changed files with 65 additions and 0 deletions
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2
modules/viz/include/opencv2/viz/widgets.hpp
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@ -124,6 +124,8 @@ namespace cv
{
public:
GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
};
class CV_EXPORTS Text3DWidget : public Widget3D

63
modules/viz/src/shape_widgets.cpp
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@ -468,6 +468,69 @@ cv::viz::GridWidget::GridWidget(const Vec2i &dimensions, const Vec2d &spacing, c
setColor(color);
}
cv::viz::GridWidget::GridWidget(const Vec4f &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
{
// Create the grid using image data
vtkSmartPointer<vtkImageData> grid = vtkSmartPointer<vtkImageData>::New();
// Add 1 to dimensions because in ImageData dimensions is the number of lines
// - however here it means number of cells
grid->SetDimensions(dimensions[0]+1, dimensions[1]+1, 1);
grid->SetSpacing(spacing[0], spacing[1], 0.);
// Set origin of the grid to be the middle of the grid
grid->SetOrigin(dimensions[0] * spacing[0] * (-0.5), dimensions[1] * spacing[1] * (-0.5), 0.0f);
// Extract the edges so we have the grid
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInputConnection(grid->GetProducerPort());
filter->Update();
// Estimate the transform to set the normal based on the coefficients
Vec3f normal(coefs[0], coefs[1], coefs[2]);
Vec3f up_vector(0.0f, 1.0f, 0.0f); // Just set as default
double push_distance = -coefs[3]/cv::norm(Vec3f(coefs.val));
Vec3f u,v,n;
n = normalize(normal);
u = normalize(up_vector.cross(n));
v = n.cross(u);
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->SetElement(0,0,u[0]);
mat_trans->SetElement(0,1,u[1]);
mat_trans->SetElement(0,2,u[2]);
mat_trans->SetElement(1,0,v[0]);
mat_trans->SetElement(1,1,v[1]);
mat_trans->SetElement(1,2,v[2]);
mat_trans->SetElement(2,0,n[0]);
mat_trans->SetElement(2,1,n[1]);
mat_trans->SetElement(2,2,n[2]);
// Inverse rotation (orthogonal, so just take transpose)
mat_trans->Transpose();
mat_trans->SetElement(0,3,n[0] * push_distance);
mat_trans->SetElement(1,3,n[1] * push_distance);
mat_trans->SetElement(2,3,n[2] * push_distance);
mat_trans->SetElement(3,3,1);
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->SetMatrix(mat_trans);
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
transform_filter->SetInputConnection(filter->GetOutputPort());
transform_filter->Update();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
mapper->SetInput(transform_filter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
template<> cv::viz::GridWidget cv::viz::Widget::cast<cv::viz::GridWidget>()
{
Widget3D widget = this->cast<Widget3D>();