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CameraPositionWidget: a workaround for setting frustum color in the presence of an image

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ozantonkal 2013-07-25 16:47:30 +02:00
parent ec756afe87
commit b661d72252
2 changed files with 7 additions and 2 deletions
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2
modules/viz/include/opencv2/viz/widgets.hpp
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@ -173,7 +173,7 @@ namespace cv
CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0); CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0);
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0); CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
}; };

7
modules/viz/src/shape_widgets.cpp
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@ -1031,7 +1031,7 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double sca
setColor(color); setColor(color);
} }
cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat &image, double scale) cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat &image, double scale, const Color &color)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
@ -1049,6 +1049,11 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat
vtkSmartPointer<vtkImageData> vtk_image = vtkSmartPointer<vtkImageData>::New(); vtkSmartPointer<vtkImageData> vtk_image = vtkSmartPointer<vtkImageData>::New();
ConvertToVtkImage::convert(image, vtk_image); ConvertToVtkImage::convert(image, vtk_image);
// Adjust a pixel of the vtk_image
vtk_image->SetScalarComponentFromDouble(0, image.rows-1, 0, 0, color[2]);
vtk_image->SetScalarComponentFromDouble(0, image.rows-1, 0, 1, color[1]);
vtk_image->SetScalarComponentFromDouble(0, image.rows-1, 0, 2, color[0]);
// Need to flip the image as the coordinates are different in OpenCV and VTK // Need to flip the image as the coordinates are different in OpenCV and VTK
vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New(); vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
flipFilter->SetFilteredAxis(1); // Vertical flip flipFilter->SetFilteredAxis(1); // Vertical flip