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fix conversion functions to use appropriate vtk function

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This commit is contained in:
ozantonkal 2013-08-05 18:39:36 +02:00
parent f8ad3c0204
commit 9c20e77013
4 changed files with 19 additions and 27 deletions
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4
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -44,8 +44,8 @@ namespace cv
Affine3f getViewerPose();
void setViewerPose(const Affine3f &pose);
void convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord);
void converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction);
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
void spin();
void spinOnce(int time = 1, bool force_redraw = false);

4
modules/viz/src/viz3d.cpp
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@ -51,5 +51,5 @@ cv::viz::Camera cv::viz::Viz3d::getCamera() const { return impl_->getCamera(); }
void cv::viz::Viz3d::setViewerPose(const Affine3f &pose) { impl_->setViewerPose(pose); }
cv::Affine3f cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }
void cv::viz::Viz3d::convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
void cv::viz::Viz3d::converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction) { impl_->converTo3DRay(window_coord, origin, direction); }
void cv::viz::Viz3d::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
void cv::viz::Viz3d::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) { impl_->converTo3DRay(window_coord, origin, direction); }

30
modules/viz/src/viz3d_impl.cpp
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@ -642,32 +642,24 @@ cv::Affine3f cv::viz::Viz3d::VizImpl::getViewerPose ()
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord)
void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
{
// Use the built in function of renderer
double point_wcs[3] = {pt.x, pt.y, pt.z};
renderer_->WorldToView(point_wcs[0], point_wcs[1], point_wcs[2]);
window_coord.x = point_wcs[0];
window_coord.y = point_wcs[1];
window_coord.z = point_wcs[2];
Vec3d window_pt;
vtkInteractorObserver::ComputeWorldToDisplay(renderer_, pt.x, pt.y, pt.z, window_pt.val);
window_coord = window_pt;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction)
void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
{
// Use the built in function of renderer
double point_view[3] = {window_coord.x, window_coord.y, window_coord.z};
renderer_->ViewToWorld(point_view[0], point_view[1], point_view[2]);
Vec4d world_pt;
vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val);
vtkCamera &active_camera = *renderer_->GetActiveCamera();
double *cam_pos = active_camera.GetPosition();
origin.x = cam_pos[0];
origin.y = cam_pos[1];
origin.z = cam_pos[2];
direction[0] = point_view[0] - cam_pos[0];
direction[1] = point_view[1] - cam_pos[1];
direction[2] = point_view[2] - cam_pos[2];
normalize(direction);
Vec3d cam_pos;
active_camera.GetPosition(cam_pos.val);
origin = cam_pos;
direction = normalize(Vec3d(world_pt.val) - cam_pos);
}
/////////////////////////////////////////////////////////////////////////////////////////////

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

@ -126,8 +126,8 @@ public:
void setViewerPose(const Affine3f &pose);
Affine3f getViewerPose();
void convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord);
void converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction);
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);