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PolyLine widget implementation

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This commit is contained in:
ozantonkal 2013-07-10 12:51:17 +02:00
parent d3dee3a2fe
commit 71c76aecc9
3 changed files with 113 additions and 13 deletions
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10
modules/viz/include/opencv2/viz/widgets.hpp
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@ -106,6 +106,15 @@ namespace temp_viz
CoordinateSystemWidget(double scale, const Affine3f& affine);
};
class CV_EXPORTS PolyLineWidget : public Widget3D
{
public:
PolyLineWidget(InputArray _points, const Color &color = Color::white());
private:
struct CopyImpl;
};
class CV_EXPORTS TextWidget : public Widget2D
{
public:
@ -144,6 +153,7 @@ namespace temp_viz
template<> CV_EXPORTS CircleWidget Widget::cast<CircleWidget>();
template<> CV_EXPORTS CubeWidget Widget::cast<CubeWidget>();
template<> CV_EXPORTS CoordinateSystemWidget Widget::cast<CoordinateSystemWidget>();
template<> CV_EXPORTS PolyLineWidget Widget::cast<PolyLineWidget>();
template<> CV_EXPORTS TextWidget Widget::cast<TextWidget>();
template<> CV_EXPORTS CloudWidget Widget::cast<CloudWidget>();
template<> CV_EXPORTS CloudNormalsWidget Widget::cast<CloudNormalsWidget>();

82
modules/viz/src/simple_widgets.cpp
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@ -26,14 +26,14 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
void temp_viz::LineWidget::setLineWidth(float line_width)
{
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
actor->GetProperty()->SetLineWidth(line_width);
}
float temp_viz::LineWidget::getLineWidth()
{
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
return actor->GetProperty()->GetLineWidth();
}
@ -342,6 +342,82 @@ template<> temp_viz::CoordinateSystemWidget temp_viz::Widget::cast<temp_viz::Coo
return static_cast<CoordinateSystemWidget&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// polyline widget implementation
struct temp_viz::PolyLineWidget::CopyImpl
{
template<typename _Tp>
static void copy(const Mat& source, Vec<_Tp, 3> *output, vtkSmartPointer<vtkPolyLine> polyLine)
{
int s_chs = source.channels();
for(int y = 0, id = 0; y < source.rows; ++y)
{
const _Tp* srow = source.ptr<_Tp>(y);
for(int x = 0; x < source.cols; ++x, srow += s_chs, ++id)
{
*output++ = Vec<_Tp, 3>(srow);
polyLine->GetPointIds()->SetId(id,id);
}
}
}
};
temp_viz::PolyLineWidget::PolyLineWidget(InputArray _pointData, const Color &color)
{
Mat pointData = _pointData.getMat();
CV_Assert(pointData.type() == CV_32FC3 || pointData.type() == CV_32FC4 || pointData.type() == CV_64FC3 || pointData.type() == CV_64FC4);
vtkIdType nr_points = pointData.total();
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
if (pointData.depth() == CV_32F)
points->SetDataTypeToFloat();
else
points->SetDataTypeToDouble();
points->SetNumberOfPoints(nr_points);
polyLine->GetPointIds()->SetNumberOfIds(nr_points);
if (pointData.depth() == CV_32F)
{
// Get a pointer to the beginning of the data array
Vec3f *data_beg = vtkpoints_data<float>(points);
CopyImpl::copy(pointData, data_beg, polyLine);
}
else if (pointData.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data_beg = vtkpoints_data<double>(points);
CopyImpl::copy(pointData, data_beg, polyLine);
}
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(polyLine);
polyData->SetPoints(points);
polyData->SetLines(cells);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInput(polyData);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
template<> temp_viz::PolyLineWidget temp_viz::Widget::cast<temp_viz::PolyLineWidget>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<PolyLineWidget&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// text widget implementation
@ -398,8 +474,6 @@ struct temp_viz::CloudWidget::CreateCloudWidget
vtkSmartPointer<vtkPoints> points = polydata->GetPoints();
vtkSmartPointer<vtkIdTypeArray> initcells;
nr_points = cloud.total();
points = polydata->GetPoints ();
if (!points)
{

34
modules/viz/test/test_viz3d.cpp
View File

@ -112,16 +112,32 @@ TEST(Viz_viz3d, accuracy)
v.showWidget("coordinateSystem", csw);
// v.showWidget("text",tw);
// v.showWidget("pcw",pcw);
v.showWidget("pcw2",pcw2);
// v.showWidget("pcw2",pcw2);
temp_viz::LineWidget lw2 = lw;
// temp_viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
temp_viz::CloudNormalsWidget cnw(cloud, normals);
v.showWidget("n", cnw);
// v.showWidget("n", cnw);
// lw = v.getWidget("n").cast<temp_viz::LineWidget>();
// pw = v.getWidget("n").cast<temp_viz::PlaneWidget>();
cv::Mat points(1, 4, CV_64FC4);
cv::Vec4d* data = points.ptr<cv::Vec4d>();
data[0] = cv::Vec4d(0.0,0.0,0.0,0.0);
data[1] = cv::Vec4d(1.0,1.0,1.0,1.0);
data[2] = cv::Vec4d(0.0,2.0,0.0,0.0);
data[3] = cv::Vec4d(3.0,4.0,1.0,1.0);
points = points.reshape(0, 2);
temp_viz::PolyLineWidget plw(points);
v.showWidget("polyline",plw);
lw = v.getWidget("polyline").cast<temp_viz::LineWidget>();
while(!v.wasStopped())
{
@ -129,25 +145,25 @@ TEST(Viz_viz3d, accuracy)
cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2));
lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
lw.setLineWidth(lw.getLineWidth()+pos_x * 10);
// lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
lw.setLineWidth(pos_x * 10);
pw.setColor(temp_viz::Color(col_blue, col_green, col_red));
plw.setColor(temp_viz::Color(col_blue, col_green, col_red));
sw.setPose(cloudPosition);
// pw.setPose(cloudPosition);
aw.setPose(cloudPosition);
cw.setPose(cloudPosition);
cyw.setPose(cloudPosition);
lw.setPose(cloudPosition);
// lw.setPose(cloudPosition);
cuw.setPose(cloudPosition);
// cnw.setPose(cloudPosition);
// v.showWidget("pcw",pcw, cloudPosition);
// v.showWidget("pcw2",pcw2, cloudPosition2);
// v.showWidget("plane", pw, cloudPosition);
v.setWidgetPose("n",cloudPosition);
v.setWidgetPose("pcw2", 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));