generic-library/opencv
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more refactoring

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This commit is contained in:
Anatoly Baksheev 2014-01-07 21:13:15 +04:00
parent 406444037d
commit d264465422
4 changed files with 64 additions and 22 deletions
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4
modules/viz/include/opencv2/viz/widgets.hpp
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@ -227,7 +227,7 @@ namespace cv
class CV_EXPORTS WCoordinateSystem : public Widget3D
{
public:
WCoordinateSystem(float scale = 1.f);
WCoordinateSystem(double scale = 1.f);
};
class CV_EXPORTS WGrid : public Widget3D
@ -263,7 +263,7 @@ namespace cv
enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH };
//! Takes vector<Affine3<T>> and displays trajectory of the given path either by coordinate frames or polyline
WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white());
WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white());
};
class CV_EXPORTS WTrajectoryFrustums : public Widget3D

32
modules/viz/src/precomp.hpp
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@ -172,10 +172,40 @@ namespace cv
friend class Viz3d;
};
template<typename _Tp> bool isNan(const _Tp* data)
template<typename _Tp> inline bool isNan(const _Tp* data)
{
return isNan(data[0]) || isNan(data[1]) || isNan(data[2]);
}
inline vtkSmartPointer<vtkPolyData> getPolyData(const Widget3D& widget)
{
vtkSmartPointer<vtkProp> prop = WidgetAccessor::getProp(widget);
vtkSmartPointer<vtkMapper> mapper = vtkActor::SafeDownCast(prop)->GetMapper();
return vtkPolyData::SafeDownCast(mapper->GetInput());
}
struct VtkUtils
{
template<class Filter>
static inline void SetInputData(vtkSmartPointer<Filter> filter, vtkPolyData *polydata)
{
#if VTK_MAJOR_VERSION <= 5
filter->SetInput(polydata);
#else
filter->SetInputData(polydata);
#endif
}
template<class Filter>
static inline void AddInputData(vtkSmartPointer<Filter> filter, vtkPolyData *polydata)
{
#if VTK_MAJOR_VERSION <= 5
filter->AddInput(polydata);
#else
filter->AddInputData(polydata);
#endif
}
};
}
}

4
modules/viz/src/vizcore.cpp
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@ -305,9 +305,7 @@ void cv::viz::writeTrajectory(InputArray _traj, const String& files_format, int
void cv::viz::computeNormals(const Mesh3d& mesh, OutputArray _normals)
{
vtkSmartPointer<vtkProp> prop = WidgetAccessor::getProp(WMesh(mesh));
vtkSmartPointer<vtkMapper> mapper = vtkActor::SafeDownCast(prop)->GetMapper();
vtkSmartPointer<vtkPolyData> polydata = vtkPolyData::SafeDownCast(mapper->GetInput());
vtkSmartPointer<vtkPolyData> polydata = getPolyData(WMesh(mesh));
vtkSmartPointer<vtkPolyDataNormals> normal_generator = vtkSmartPointer<vtkPolyDataNormals>::New();
#if VTK_MAJOR_VERSION <= 5

46
modules/viz/test/test_viz3d.cpp
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@ -45,37 +45,51 @@ using namespace cv;
TEST(Viz_viz3d, develop)
{
std::cout << std::string(cvtest::TS::ptr()->get_data_path()) + "dragon.ply" << std::endl;
cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
cv::Mat cloud = cv::viz::readCloud(String(cvtest::TS::ptr()->get_data_path()) + "dragon.ply");
//cv::viz::Mesh3d mesh = cv::viz::Mesh3d::load(get_dragon_ply_file_path());
// for(size_t i = 0; i < cloud.total(); ++i)
// {
// if (i % 15 == 0)
// continue;
// const static float qnan = std::numeric_limits<float>::quiet_NaN();
// cloud.at<Vec3f>(i) = Vec3f(qnan, qnan, qnan);
// }
//theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
cv::viz::Viz3d viz("abc");
viz.setBackgroundColor(cv::viz::Color::mlab());
viz.showWidget("coo", cv::viz::WCoordinateSystem(0.1));
cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
// double c = cos(CV_PI/6);
// std::vector<Vec3d> pts;
// pts.push_back(Vec3d(0, 0.0, -1.0));
// pts.push_back(Vec3d(1, c, -0.5));
// pts.push_back(Vec3d(2, c, 0.5));
// pts.push_back(Vec3d(3, 0.0, 1.0));
// pts.push_back(Vec3d(4, -c, 0.5));
// pts.push_back(Vec3d(5, -c, -0.5));
// viz.showWidget("pl", cv::viz::WPolyLine(Mat(pts), cv::viz::Color::green()));
//viz.showWidget("pl", cv::viz::WPolyLine(cloud.colRange(0, 100), cv::viz::Color::green()));
//viz.spin();
//cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
//viz.showWidget("h", cv::viz::Widget::fromPlyFile("d:/horse-red.ply"));
//viz.showWidget("a", cv::viz::WArrow(cv::Point3f(0,0,0), cv::Point3f(1,1,1)));
std::vector<cv::Affine3d> gt, es;
cv::viz::readTrajectory(gt, "d:/Datasets/trajs/gt%05d.xml");
cv::viz::readTrajectory(es, "d:/Datasets/trajs/es%05d.xml");
//cv::viz::readTrajectory(es, "d:/Datasets/trajs/es%05d.xml");
gt.resize(20);
viz.showWidget("gt", viz::WTrajectory(gt, viz::WTrajectory::PATH, 1.f, viz::Color::blue()), gt[0].inv());
viz.showWidget("tr", viz::WTrajectory(es, viz::WTrajectory::PATH, 1.f, viz::Color::red()), gt[0].inv());
Affine3d inv = gt[0].inv();
for(size_t i = 0; i < gt.size(); ++i)
gt[i] = inv * gt[i];
cv::RNG rng;
rng.fill(colors, cv::RNG::UNIFORM, 0, 255);
//viz.showWidget("gt", viz::WTrajectory(gt, viz::WTrajectory::PATH, 1.f, viz::Color::blue()), gt[0].inv());
viz.showWidget("gt", viz::WTrajectory(gt, viz::WTrajectory::BOTH, 0.01f, viz::Color::blue()));
//viz.showWidget("tr", viz::WTrajectory(es, viz::WTrajectory::PATH, 1.f, viz::Color::red()), gt[0].inv());
//theRNG().fill(colors, cv::RNG::UNIFORM, 0, 255);
//viz.showWidget("c", cv::viz::WCloud(cloud, colors));
//viz.showWidget("c", cv::viz::WCloud(cloud, cv::viz::Color::bluberry()));