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initial setViewerPose implementation

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This commit is contained in:
ozantonkal 2013-08-01 15:22:35 +02:00
parent 54774f6d3b
commit 8fa6b6a6ef
4 changed files with 29 additions and 0 deletions
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3
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -38,6 +38,9 @@ namespace cv
void setWidgetPose(const String &id, const Affine3f &pose);
void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const;
Affine3f getViewerPose();
void setViewerPose(const Affine3f &pose);
void spin();
void spinOnce(int time = 1, bool force_redraw = false);

3
modules/viz/src/viz3d.cpp
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@ -45,3 +45,6 @@ cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const { return impl_
void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) { impl_->setWidgetPose(id, pose); }
void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) { impl_->updateWidgetPose(id, pose); }
cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
void cv::viz::Viz3d::setViewerPose(const Affine3f &pose) { impl_->setViewerPose(pose); }
cv::Affine3f cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }

22
modules/viz/src/viz3d_impl.cpp
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@ -591,6 +591,28 @@ void cv::viz::Viz3d::VizImpl::getCameras (cv::viz::Camera& camera)
camera.window_pos = cv::Vec2d::all(0);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
{
vtkCamera& camera = *renderer_->GetActiveCamera ();
// Position = extrinsic translation
cv::Vec3f pos_vec = pose.translation();
// Rotate the view vector
cv::Matx33f rotation = pose.rotation();
cv::Vec3f y_axis (0.f, 1.f, 0.f);
cv::Vec3f up_vec (rotation * y_axis);
// Compute the new focal point
cv::Vec3f z_axis (0.f, 0.f, 1.f);
cv::Vec3f focal_vec = pos_vec + rotation * z_axis;
camera.SetPosition(pos_vec[0], pos_vec[1], pos_vec[2]);
camera.SetFocalPoint(focal_vec[0], focal_vec[1], focal_vec[2]);
camera.SetViewUp(up_vec[0], up_vec[1], up_vec[2]);
}
/////////////////////////////////////////////////////////////////////////////////////////////
cv::Affine3f cv::viz::Viz3d::VizImpl::getViewerPose ()
{

1
modules/viz/src/viz3d_impl.hpp
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@ -140,6 +140,7 @@ public:
void getCameras (Camera& camera);
//to implement Viz3d set/getViewerPose()
void setViewerPose(const Affine3f &pose);
Affine3f getViewerPose();