generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

code beatification

Browse Source
This commit is contained in:
Anatoly Baksheev 2014-01-07 14:51:32 +04:00
parent e26b7e1e4f
commit b100299644
3 changed files with 23 additions and 61 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
modules/viz/src/interactor_style.hpp
View File

@ -63,7 +63,7 @@ namespace cv
virtual void Initialize();
void setWidgetActorMap(const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
void setRenderer(vtkSmartPointer<vtkRenderer>& ren) { renderer_ = ren; }
void setRenderer(vtkSmartPointer<vtkRenderer>& renderer) { renderer_ = renderer; }
void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
void saveScreenshot(const String &file);

1
modules/viz/src/precomp.hpp
View File

@ -124,6 +124,7 @@
#include <vtkSTLReader.h>
#include <vtkOBJExporter.h>
#include <vtkVRMLExporter.h>
#include <vtkTensorGlyph.h>
#if !defined(_WIN32) || defined(__CYGWIN__)
# include <unistd.h> /* unlink */

81
modules/viz/src/shapes.cpp
View File

@ -189,28 +189,22 @@ cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, float thickness,
arrowSource->SetTipRadius(thickness * 3.0);
arrowSource->SetTipLength(thickness * 10.0);
Vec3f startPoint(pt1.x, pt1.y, pt1.z), endPoint(pt2.x, pt2.y, pt2.z);
Vec3f arbitrary(theRNG().uniform(-10.f, 10.f), theRNG().uniform(-10.f, 10.f), theRNG().uniform(-10.f, 10.f));
RNG rng = theRNG();
Vec3d arbitrary(rng.uniform(-10.0, 10.0), rng.uniform(-10.0, 10.0), rng.uniform(-10.0, 10.0));
Vec3d startPoint(pt1.x, pt1.y, pt1.z), endPoint(pt2.x, pt2.y, pt2.z);
double length = cv::norm(endPoint - startPoint);
Vec3f xvec = normalized(endPoint - startPoint);
Vec3f zvec = normalized(xvec.cross(arbitrary));
Vec3f yvec = zvec.cross(xvec);
Vec3d xvec = normalized(endPoint - startPoint);
Vec3d zvec = normalized(xvec.cross(arbitrary));
Vec3d yvec = zvec.cross(xvec);
// Create the direction cosine matrix
vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
matrix->Identity();
for (int i = 0; i < 3; ++i)
{
matrix->SetElement(i, 0, xvec[i]);
matrix->SetElement(i, 1, yvec[i]);
matrix->SetElement(i, 2, zvec[i]);
}
Affine3d pose = makeTransformToGlobal(xvec, yvec, zvec);
// Apply the transforms
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->Translate(startPoint.val);
transform->Concatenate(matrix);
transform->Concatenate(vtkmatrix(pose.matrix));
transform->Scale(length, length, length);
// Transform the polydata
@ -523,34 +517,18 @@ cv::viz::WGrid::WGrid(const Vec4f &coefs, const Vec2i &dimensions, const Vec2f &
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
// Estimate the transform to set the normal based on the coefficients
Vec3f normal(coefs[0], coefs[1], coefs[2]);
Vec3f up_vector(0.0f, 1.0f, 0.0f); // Just set as default
Vec3d normal(coefs[0], coefs[1], coefs[2]);
Vec3d up_vector(0.0, 1.0, 0.0); // Just set as default
double push_distance = -coefs[3]/cv::norm(Vec3f(coefs.val));
Vec3f u,v,n;
n = normalize(normal);
u = normalize(up_vector.cross(n));
v = n.cross(u);
Vec3d n = normalize(normal);
Vec3d u = normalize(up_vector.cross(n));
Vec3d v = n.cross(u);
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->SetElement(0,0,u[0]);
mat_trans->SetElement(0,1,u[1]);
mat_trans->SetElement(0,2,u[2]);
mat_trans->SetElement(1,0,v[0]);
mat_trans->SetElement(1,1,v[1]);
mat_trans->SetElement(1,2,v[2]);
mat_trans->SetElement(2,0,n[0]);
mat_trans->SetElement(2,1,n[1]);
mat_trans->SetElement(2,2,n[2]);
// Inverse rotation (orthogonal, so just take transpose)
mat_trans->Transpose();
mat_trans->SetElement(0,3,n[0] * push_distance);
mat_trans->SetElement(1,3,n[1] * push_distance);
mat_trans->SetElement(2,3,n[2] * push_distance);
mat_trans->SetElement(3,3,1);
Affine3d pose = makeTransformToGlobal(u, v, n, n * push_distance);
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->SetMatrix(mat_trans);
transform->SetMatrix(vtkmatrix(pose.matrix));
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
@ -837,28 +815,11 @@ cv::viz::WImage3D::WImage3D(const Vec3f &position, const Vec3f &normal, const Ve
plane->SetNormal(0.0, 0.0, 1.0);
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3f u,v,n;
n = normalize(normal);
u = normalize(up_vector.cross(n));
v = n.cross(u);
Vec3d n = normalize(normal);
Vec3d u = normalize(up_vector.cross(n));
Vec3d v = n.cross(u);
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->SetElement(0,0,u[0]);
mat_trans->SetElement(0,1,u[1]);
mat_trans->SetElement(0,2,u[2]);
mat_trans->SetElement(1,0,v[0]);
mat_trans->SetElement(1,1,v[1]);
mat_trans->SetElement(1,2,v[2]);
mat_trans->SetElement(2,0,n[0]);
mat_trans->SetElement(2,1,n[1]);
mat_trans->SetElement(2,2,n[2]);
// Inverse rotation (orthogonal, so just take transpose)
mat_trans->Transpose();
// Then translate the coordinate frame to camera position
mat_trans->SetElement(0,3,position[0]);
mat_trans->SetElement(1,3,position[1]);
mat_trans->SetElement(2,3,position[2]);
mat_trans->SetElement(3,3,1);
Affine3d pose = makeTransformToGlobal(u, v, n, position);
// Apply the texture
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
@ -870,7 +831,7 @@ cv::viz::WImage3D::WImage3D(const Vec3f &position, const Vec3f &normal, const Ve
// Apply the transform after texture mapping
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->SetMatrix(mat_trans);
transform->SetMatrix(vtkmatrix(pose));
transform->Scale(size.width, size.height, 1.0);
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();