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trajectory widget display options: display path, display frames, display both

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This commit is contained in:
ozantonkal 2013-07-25 10:56:54 +02:00
parent aa2594c06c
commit 7d458e852e
2 changed files with 45 additions and 39 deletions
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4
modules/viz/include/opencv2/viz/widgets.hpp
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@ -180,7 +180,9 @@ namespace cv
class CV_EXPORTS TrajectoryWidget : public Widget3D class CV_EXPORTS TrajectoryWidget : public Widget3D
{ {
public: public:
TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color = Color::white(), bool show_frames = false, double scale = 1.0); enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
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
private: private:

80
modules/viz/src/shape_widgets.cpp
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@ -1162,38 +1162,54 @@ struct cv::viz::TrajectoryWidget::ApplyPath
} }
}; };
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color, bool show_frames, double scale) cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode, const Color &color, double scale)
{ {
vtkIdType nr_points = path.size(); vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New (); if (display_mode & TrajectoryWidget::DISPLAY_PATH)
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
points->SetDataTypeToFloat();
points->SetNumberOfPoints(nr_points);
polyLine->GetPointIds()->SetNumberOfIds(nr_points);
Vec3f last_pos(0.0f,0.0f,0.0f);
Vec3f *data_beg = vtkpoints_data<float>(points);
*data_beg = path[0] * last_pos;
for (vtkIdType i = 0; i < nr_points; ++i)
{ {
last_pos = path[i] * last_pos; // Create a poly line along the path
*data_beg++ = last_pos; vtkIdType nr_points = path.size();
polyLine->GetPointIds()->SetId(i,i);
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
points->SetDataTypeToFloat();
points->SetNumberOfPoints(nr_points);
polyLine->GetPointIds()->SetNumberOfIds(nr_points);
Vec3f last_pos(0.0f,0.0f,0.0f);
Vec3f *data_beg = vtkpoints_data<float>(points);
for (vtkIdType i = 0; i < nr_points; ++i)
{
last_pos = path[i] * last_pos;
*data_beg++ = last_pos;
polyLine->GetPointIds()->SetId(i,i);
}
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(polyLine);
polyData->SetPoints(points);
polyData->SetLines(cells);
// Set the color for polyData
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetNumberOfComponents(3);
// TODO Make this more efficient
for (int i = 0; i < nr_points; ++i)
colors->InsertNextTuple3(color[2], color[1], color[0]);
polyData->GetPointData()->SetScalars(colors);
appendFilter->AddInputConnection(polyData->GetProducerPort());
} }
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New(); if (display_mode & TrajectoryWidget::DISPLAY_FRAMES)
cells->InsertNextCell(polyLine);
polyData->SetPoints(points);
polyData->SetLines(cells);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
if (show_frames)
{ {
// Create frames and transform along the path
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New(); vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin (0, 0, 0); axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale); axes->SetScaleFactor (scale);
@ -1220,18 +1236,6 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c
ApplyPath::applyPath(axes_tubes->GetOutput(), appendFilter, path); ApplyPath::applyPath(axes_tubes->GetOutput(), appendFilter, path);
} }
// Set the color for polyData
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetNumberOfComponents(3);
// TODO Make this more efficient
for (int i = 0; i < nr_points; ++i)
colors->InsertNextTuple3(color[2], color[1], color[0]);
polyData->GetPointData()->SetScalars(colors);
appendFilter->AddInputConnection(polyData->GetProducerPort());
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetScalarModeToUsePointData (); mapper->SetScalarModeToUsePointData ();
mapper->SetInput(appendFilter->GetOutput()); mapper->SetInput(appendFilter->GetOutput());