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camera position widget: constructor with no parameter, constructor with intrinsic matrix for visualizing frustum

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This commit is contained in:
ozantonkal 2013-07-18 17:08:58 +02:00
parent 3260404fdf
commit 9d3f3c66da
4 changed files with 96 additions and 4 deletions
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3
modules/viz/include/opencv2/viz/widgets.hpp
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@ -167,8 +167,9 @@ namespace cv
class CV_EXPORTS CameraPositionWidget : public Widget3D
{
public:
CameraPositionWidget(double scale = 1.0);
CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0);
CameraPositionWidget(const Matx33f &K, const Color &color = Color::white());
};
class CV_EXPORTS CloudWidget : public Widget3D

1
modules/viz/src/precomp.hpp
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@ -134,6 +134,7 @@
#include <vtkImageReader2.h>
#include <vtkImageData.h>
#include <vtkExtractEdges.h>
#include <vtkFrustumSource.h>
#include <vtkPolyDataNormals.h>
#include <vtkMapper.h>

80
modules/viz/src/shape_widgets.cpp
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@ -778,6 +778,41 @@ template<> cv::viz::Image3DWidget cv::viz::Widget::cast<cv::viz::Image3DWidget>(
///////////////////////////////////////////////////////////////////////////////////////////////
/// camera position widget implementation
cv::viz::CameraPositionWidget::CameraPositionWidget(double scale)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.0);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (0.5);
axes_colors->InsertNextValue (1.0);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
axes_tubes->SetInput (axes_data);
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetScalarModeToUsePointData ();
mapper->SetInput(axes_tubes->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
@ -844,4 +879,47 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec3f &position, const
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
}
cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float focal_length = K(0,0);
float c_x = K(0,2);
float c_y = K(1,2);
float aspect_ratio = c_x / c_y;
float img_width = c_x * 2;
float img_height = c_y * 2;
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
float fovy = 2.0f * atan2(c_y,focal_length) * 180 / CV_PI;
camera->SetViewAngle(fovy);
camera->SetPosition(0.0,0.0,0.0);
camera->SetViewUp(0.0,1.0,0.0);
camera->SetFocalPoint(0.0,0.0,1.0);
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource =
vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
// Extract the edges so we have the grid
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInput(frustumSource->GetOutput());
filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInput(filter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}

16
modules/viz/test/test_viz3d.cpp
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@ -138,12 +138,22 @@ TEST(Viz_viz3d, accuracy)
// resize(img, img, Size(50,50));
// viz.showWidget("img", viz::ImageOverlayWidget(img, Point2i(50,50)));
viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
Matx33f K(657, 0, 320,
0, 657, 240,
0, 0, 1);
viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::CameraPositionWidget cpw2(0.5);
viz::CameraPositionWidget frustum(K, viz::Color::green());
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
viz::Text3DWidget t3w2("Camera2", Point3f(0,0,0), 0.1);
viz.showWidget("CameraPositionWidget", cpw);
viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("camera_label", t3w1);
viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);
@ -175,6 +185,8 @@ TEST(Viz_viz3d, accuracy)
aw.setPose(cloudPosition);
cw.setPose(cloudPosition);
cyw.setPose(cloudPosition);
frustum.setPose(cloudPosition);
// lw.setPose(cloudPosition);
// cpw.updatePose(Affine3f(0.1,0.0,0.0, cv::Vec3f(0.0,0.0,0.0)));
// cpw.setPose(cloudPosition);