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initial refactoring

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This commit is contained in:
ozantonkal
2013-06-17 16:32:52 +02:00
parent 0e90c0fff2
commit b387581d4f
2 changed files with 75 additions and 1 deletions
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11
modules/viz/src/q/shapes.h
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@@ -8,7 +8,16 @@ namespace temp_viz
{
CV_EXPORTS vtkSmartPointer<vtkDataSet> createLine (const cv::Point3f& pt1, const cv::Point3f& pt2);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createSphere (const cv::Point3f &center, float radius, int sphere_resolution = 10);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCylinder (const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const Vec4f& coefs);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const Vec4f& coefs, const Point3f& pt);
CV_EXPORTS vtkSmartPointer<vtkDataSet> create2DCircle (const Point3f& pt, double radius);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube(const Point3f& pt_min, const Point3f& pt_max);
// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Point3f& pt, const Quaternionf& qt, );
// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth);
// CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max);
//
//
/** \brief Create a cylinder shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
* \param[in] numsides (optional) the number of sides used for rendering the cylinder

65
modules/viz/src/shapes.cpp
View File

@@ -5,6 +5,71 @@ inline float rad2deg (float alpha)
inline double rad2deg (double alpha){return (alpha * 57.29578);}
vtkSmartPointer<vtkDataSet> temp_viz::createCylinder (const cv::Point3f& pt_on_axis, const cv::Point3f& axis_direction, double radius, int numsides)
{
const cv::Point3f pt2 = pt_on_axis + axis_direction;
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
line->SetPoint1 (pt_on_axis.x, pt_on_axis.y, pt_on_axis.z);
line->SetPoint2 (pt2.x, pt2.y, pt2.z);
vtkSmartPointer<vtkTubeFilter> tuber = vtkSmartPointer<vtkTubeFilter>::New ();
tuber->SetInputConnection (line->GetOutputPort ());
tuber->SetRadius (radius);
tuber->SetNumberOfSides (numsides);
return (tuber->GetOutput ());
}
vtkSmartPointer<vtkDataSet> temp_viz::createPlane (const cv::Vec4f& coefs)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
plane->SetNormal (coefs[0], coefs[1], coefs[2]);
double norm = cv::norm (cv::Vec3f (coefs[0], coefs[1], coefs[2]));
plane->Push (-coefs[3] / norm);
return (plane->GetOutput ());
}
vtkSmartPointer<vtkDataSet> temp_viz::createPlane(const cv::Vec4f& coefs, const cv::Point3f& pt)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
cv::Point3f coefs3 (coefs[0], coefs[1], coefs[2]);
double norm_sqr = 1.0 / coefs3.dot (coefs3);
plane->SetNormal (coefs[0], coefs[1], coefs[2]);
double t = coefs3.dot (pt) + coefs[3];
cv::Vec3f p_center;
p_center = pt - coefs3 * t * norm_sqr;
plane->SetCenter (p_center[0], p_center[1], p_center[2]);
return (plane->GetOutput ());
}
vtkSmartPointer<vtkDataSet> temp_viz::create2DCircle (const cv::Point3f& pt, double radius)
{
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
// Maybe the resolution should be lower e.g. 50 or 25
disk->SetCircumferentialResolution (100);
disk->SetInnerRadius (radius - 0.001);
disk->SetOuterRadius (radius + 0.001);
disk->SetCircumferentialResolution (20);
// Set the circle origin
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
t->Identity ();
t->Translate (pt.x, pt.y, pt.z);
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (disk->GetOutputPort ());
return (tf->GetOutput ());
}
vtkSmartPointer<vtkDataSet> temp_viz::createCube(const cv::Point3f& pt_min, const cv::Point3f& pt_max)
{
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
return (cube->GetOutput ());
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createCylinder (const temp_viz::ModelCoefficients &coefficients, int numsides)