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getShapePose/setShapePose simplification

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little code beautification, formatting
This commit is contained in:
Anatoly Baksheev
2013-07-01 23:29:33 +04:00
parent 2229d91c50
commit e0b7e63787
9 changed files with 170 additions and 209 deletions
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42
modules/viz/include/opencv2/viz/viz3d.hpp
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@@ -25,41 +25,41 @@ namespace temp_viz
void setBackgroundColor(const Color& color = Color::black());
void addCoordinateSystem(double scale, const Affine3f& t, const String &id = "coordinate");
void addCoordinateSystem(double scale, const Affine3f& t, const String& id = "coordinate");
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
void showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
void showPlane(const String &id, const Vec4f &coefs, const Color &color = Color(255,255,255));
void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color = Color(255,255,255));
void showCube(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
void showCylinder(const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color = Color(255,255,255));
void showCircle(const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
void showSphere (const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
void showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
void showLine(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
void showPlane(const String& id, const Vec4f& coefs, const Color& color = Color::white());
void showPlane(const String& id, const Vec4f& coefs, const Point3f& pt, const Color& color = Color::white());
void showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
void showCylinder(const String& id, const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int num_sides, const Color& color = Color::white());
void showCircle(const String& id, const Point3f& pt, double radius, const Color& color = Color::white());
void showSphere(const String& id, const Point3f& pt, double radius, const Color& color = Color::white());
void showArrow(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
Affine3f getShapePose(const String &id);
bool setShapePose(const String &id, const Affine3f &pose);
Affine3f getShapePose(const String& id);
void setShapePose(const String& id, const Affine3f &pose);
bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");
bool removeCoordinateSystem (const String &id = "coordinate");
bool addPlane (const ModelCoefficients &coefficients, const String& id = "plane");
bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String& id = "plane");
bool removeCoordinateSystem (const String& id = "coordinate");
bool addPolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String &id = "polyline");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String &id = "");
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
bool addPolygon(const Mat& cloud, const Color& color, const String &id = "polygon");
bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
bool addSphere (const Point3f &center, double radius, const Color& color, const String &id = "sphere");
bool addSphere (const Point3f &center, double radius, const Color& color, const String& id = "sphere");
void spin ();

22
modules/viz/src/interactor_style.cpp
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@@ -154,13 +154,13 @@ temp_viz::InteractorStyle::OnKeyDown ()
{
if (!init_)
{
std::cout << "[PCLVisualizerInteractorStyle] Interactor style not initialized. Please call Initialize () before continuing" << std::endl;
std::cout << "Interactor style not initialized. Please call Initialize () before continuing" << std::endl;
return;
}
if (!renderer_)
{
std::cout << "[PCLVisualizerInteractorStyle] No renderer collection given! Use SetRendererCollection () before continuing." << std::endl;
std::cout << "No renderer given! Use SetRendererCollection () before continuing." << std::endl;
return;
}
@@ -186,21 +186,9 @@ temp_viz::InteractorStyle::OnKeyDown ()
bool keymod = false;
switch (modifier_)
{
case KB_MOD_ALT:
{
keymod = alt;
break;
}
case KB_MOD_CTRL:
{
keymod = ctrl;
break;
}
case KB_MOD_SHIFT:
{
keymod = shift;
break;
}
case KB_MOD_ALT: keymod = alt; break;
case KB_MOD_CTRL: keymod = ctrl; break;
case KB_MOD_SHIFT: keymod = shift; break;
}
std::string key (Interactor->GetKeySym ());

20
modules/viz/src/precomp.hpp
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@@ -6,12 +6,6 @@
#include <list>
#include <vector>
/*
#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <boost/signals2.hpp>
#include <boost/thread.hpp>*/
#include <Eigen/Geometry>
#if defined __GNUC__
@@ -140,24 +134,13 @@
#include <vtkImageData.h>
#include <vtkPolyDataNormals.h>
#include <vtkMapper.h>
#include <vtkSelectionNode.h>
#include <vtkAbstractPicker.h>
#include <vtkAbstractPropPicker.h>
#include <vtkMatrix4x4.h>
#include <vtkInteractorObserver.h>
#include <vtkMapper2D.h>
#include <vtkLeaderActor2D.h>
#include <vtkAlgorithmOutput.h>
@@ -168,3 +151,6 @@
#define __DEPRECATED
#undef __DEPRECATED_DISABLED__
#endif
#include <q/shapes.h>

27
modules/viz/src/q/shapes.h
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@@ -1,22 +1,19 @@
#pragma once
#include <Eigen/Core>
#include <opencv2/viz/types.hpp>
#include "precomp.hpp"
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> createSphere (const Point3f& pt, double radius);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createArrow (const Point3f& pt1, const Point3f& pt2);
/** \brief Allocate a new unstructured grid smartpointer. For internal use only.
* \param[out] polydata the resultant unstructured grid.
*/
CV_EXPORTS void allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
vtkSmartPointer<vtkDataSet> createLine (const cv::Point3f& pt1, const cv::Point3f& pt2);
vtkSmartPointer<vtkDataSet> createSphere (const cv::Point3f &center, float radius, int sphere_resolution = 10);
vtkSmartPointer<vtkDataSet> createCylinder (const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30);
vtkSmartPointer<vtkDataSet> createPlane (const Vec4f& coefs);
vtkSmartPointer<vtkDataSet> createPlane (const Vec4f& coefs, const Point3f& pt);
vtkSmartPointer<vtkDataSet> create2DCircle (const Point3f& pt, double radius);
vtkSmartPointer<vtkDataSet> createCube(const Point3f& pt_min, const Point3f& pt_max);
vtkSmartPointer<vtkDataSet> createSphere (const Point3f& pt, double radius);
vtkSmartPointer<vtkDataSet> createArrow (const Point3f& pt1, const Point3f& pt2);
//brief Allocate a new unstructured grid smartpointer. For internal use only.
void allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
}

89
modules/viz/src/q/viz3d_impl.hpp
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@@ -17,11 +17,11 @@ class CV_EXPORTS Viz3d::VizImpl
public:
typedef cv::Ptr<VizImpl> Ptr;
VizImpl (const std::string &name = std::string());
VizImpl (const String &name = String());
virtual ~VizImpl ();
void setFullScreen (bool mode);
void setWindowName (const std::string &name);
void setWindowName (const String &name);
/** \brief Register a callback function for keyboard input
* \param[in] callback function that will be registered as a callback for a keyboard event
@@ -68,34 +68,34 @@ public:
* |
* y
*/
void addCoordinateSystem (double scale, const cv::Affine3f& t, const std::string &id = "coordinate");
void addCoordinateSystem (double scale, const Affine3f& t, const String& id = "coordinate");
/** \brief Removes a previously added 3D axes (coordinate system)
*/
bool removeCoordinateSystem (const std::string &id = "coordinate");
bool removePointCloud (const std::string &id = "cloud");
inline bool removePolygonMesh (const std::string &id = "polygon")
bool removeCoordinateSystem (const String& id = "coordinate");
bool removePointCloud (const String& id = "cloud");
inline bool removePolygonMesh (const String& id = "polygon")
{
// Polygon Meshes are represented internally as point clouds with special cell array structures since 1.4
return removePointCloud (id);
}
bool removeShape (const std::string &id = "cloud");
bool removeShape (const String& id = "cloud");
bool removeText3D (const std::string &id = "cloud");
bool removeText3D (const String& id = "cloud");
bool removeAllPointClouds ();
bool removeAllShapes ();
void setBackgroundColor (const Color& color);
bool addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize = 10, const std::string &id = "");
bool updateText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize = 10, const std::string &id = "");
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
bool updateText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
/** \brief Set the pose of an existing shape. Returns false if the shape doesn't exist, true if the pose was succesfully updated. */
bool updateShapePose (const std::string &id, const cv::Affine3f& pose);
bool updateShapePose (const String& id, const Affine3f& pose);
bool addText3D (const std::string &text, const cv::Point3f &position, const Color& color, double textScale = 1.0, const std::string &id = "");
bool addText3D (const String &text, const Point3f &position, const Color& color, double textScale = 1.0, const String& id = "");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const std::string &id = "cloud");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
/** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene
* \param[in] id a variable to identify the point cloud
@@ -106,23 +106,23 @@ public:
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id = "polyline");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
void setPointCloudColor (const Color& color, const std::string &id = "cloud");
bool setPointCloudRenderingProperties (int property, double value, const std::string &id = "cloud");
bool getPointCloudRenderingProperties (int property, double &value, const std::string &id = "cloud");
void setPointCloudColor (const Color& color, const String& id = "cloud");
bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
bool setShapeRenderingProperties (int property, double value, const std::string &id);
void setShapeColor (const Color& color, const std::string &id);
bool setShapeRenderingProperties (int property, double value, const String& id);
void setShapeColor (const Color& color, const String& id);
/** \brief Set whether the point cloud is selected or not
* \param[in] selected whether the cloud is selected or not (true = selected)
* \param[in] id the point cloud object id (default: cloud)
*/
bool setPointCloudSelected (const bool selected, const std::string &id = "cloud" );
bool setPointCloudSelected (const bool selected, const String& id = "cloud" );
/** \brief Returns true when the user tried to close the window */
bool wasStopped () const { if (interactor_ != NULL) return (stopped_); else return true; }
@@ -138,27 +138,27 @@ public:
interactor_->TerminateApp ();
}
void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color);
void showPlane (const String &id, const cv::Vec4f &coefs, const Color &color);
void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color);
void showCube (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
void showCylinder (const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color);
void showCircle (const String &id, const Point3f &pt, double radius, const Color &color);
void showSphere (const String &id, const Point3f &pt, double radius, const Color &color);
void showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
void showLine (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
void showPlane (const String& id, const cv::Vec4f &coefs, const Color& color);
void showPlane (const String& id ,const cv::Vec4f &coefs, const Point3f& pt, const Color& color);
void showCube (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
void showCylinder (const String& id, const Point3f& pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color& color);
void showCircle (const String& id, const Point3f& pt, double radius, const Color& color);
void showSphere (const String& id, const Point3f& pt, double radius, const Color& color);
void showArrow (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
Affine3f getShapePose (const String &id);
bool setShapePose (const String &id, const Affine3f &pose);
Affine3f getShapePose (const String& id);
void setShapePose (const String& id, const Affine3f& pose);
bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color_line, const Color& color_text, const std::string &id = "arrow");
bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
// Add a vtkPolydata as a mesh
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id = "PolyData");
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PolyData");
bool addModelFromPLYFile (const std::string &filename, const std::string &id = "PLYModel");
bool addModelFromPLYFile (const std::string &filename, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PLYModel");
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const String& id = "PolyData");
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const String& id = "PolyData");
bool addModelFromPLYFile (const String &filename, const String& id = "PLYModel");
bool addModelFromPLYFile (const String &filename, vtkSmartPointer<vtkTransform> transform, const String& id = "PLYModel");
/** \brief Changes the visual representation for all actors to surface representation. */
void setRepresentationToSurfaceForAllActors ();
@@ -187,7 +187,7 @@ public:
/** \brief Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
* \param[in] id the point cloud object id (default: cloud)
*/
void resetCameraViewpoint (const std::string &id = "cloud");
void resetCameraViewpoint (const String& id = "cloud");
/** \brief Set the camera pose given by position, viewpoint and up vector
* \param[in] pos_x the x coordinate of the camera location
@@ -217,7 +217,7 @@ public:
* \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
* \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
*/
void setCameraParameters (const cv::Matx33f& intrinsics, const cv::Affine3f& extrinsics);
void setCameraParameters (const cv::Matx33f& intrinsics, const Affine3f& extrinsics);
/** \brief Set the camera parameters by given a full camera data structure.
* \param[in] camera camera structure containing all the camera parameters.
@@ -237,8 +237,8 @@ public:
void getCameras (Camera& camera);
/** \brief Get the current viewing pose. */
cv::Affine3f getViewerPose ();
void saveScreenshot (const std::string &file);
Affine3f getViewerPose ();
void saveScreenshot (const String &file);
/** \brief Return a pointer to the underlying VTK Render Window used. */
//vtkSmartPointer<vtkRenderWindow> getRenderWindow () { return (window_); }
@@ -351,6 +351,9 @@ private:
void convertToVtkMatrix (const cv::Matx44f& m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
void convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m);
vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m);
cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix);
/** \brief Convert origin and orientation to vtkMatrix4x4
* \param[in] origin the point cloud origin
* \param[in] orientation the point cloud orientation

32
modules/viz/src/shapes.cpp
View File

@@ -1,9 +1,7 @@
#include <q/shapes.h>
#include "precomp.hpp"
inline float rad2deg (float alpha)
{ return (alpha * 57.29578f); }
inline double rad2deg (double alpha){return (alpha * 57.29578);}
inline float rad2deg(float alpha) { return (alpha * 57.29578f); }
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)
{
@@ -23,21 +21,20 @@ 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]));
double norm = cv::norm(cv::Vec3f(coefs.val));
plane->Push (-coefs[3] / norm);
return (plane->GetOutput ());
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]);
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]);
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;
double t = coefs3.dot(pt) + coefs[3];
cv::Vec3f p_center = pt - coefs3 * t * norm_sqr;
plane->SetCenter (p_center[0], p_center[1], p_center[2]);
return (plane->GetOutput ());
@@ -61,14 +58,14 @@ vtkSmartPointer<vtkDataSet> temp_viz::create2DCircle (const cv::Point3f& pt, dou
tf->SetTransform (t);
tf->SetInputConnection (disk->GetOutputPort ());
return (tf->GetOutput ());
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 ());
return cube->GetOutput ();
}
vtkSmartPointer<vtkDataSet> temp_viz::createSphere (const Point3f& pt, double radius)
@@ -81,7 +78,7 @@ vtkSmartPointer<vtkDataSet> temp_viz::createSphere (const Point3f& pt, double ra
sphere->LatLongTessellationOff ();
sphere->Update ();
return (sphere->GetOutput ());
return sphere->GetOutput ();
}
vtkSmartPointer<vtkDataSet> temp_viz::createArrow (const Point3f& pt1, const Point3f& pt2)
@@ -136,10 +133,9 @@ vtkSmartPointer<vtkDataSet> temp_viz::createArrow (const Point3f& pt1, const Poi
transformPD->SetTransform(transform);
transformPD->SetInputConnection(arrowSource->GetOutputPort());
return (transformPD->GetOutput());
return transformPD->GetOutput();
}
////////////////////////////////////////////////////////////////////////////////////////////
vtkSmartPointer<vtkDataSet> temp_viz::createLine (const cv::Point3f& pt1, const cv::Point3f& pt2)
{
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
@@ -148,7 +144,7 @@ vtkSmartPointer<vtkDataSet> temp_viz::createLine (const cv::Point3f& pt1, const
line->Update ();
return line->GetOutput ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata)
{
polydata = vtkSmartPointer<vtkUnstructuredGrid>::New ();

37
modules/viz/src/viz3d.cpp
View File

@@ -9,16 +9,15 @@ temp_viz::Viz3d::Viz3d(const String& window_name) : impl_(new VizImpl(window_nam
temp_viz::Viz3d::~Viz3d()
{
delete impl_;
}
void temp_viz::Viz3d::setBackgroundColor(const Color& color)
{
impl_->setBackgroundColor(color);
}
void temp_viz::Viz3d::addCoordinateSystem(double scale, const Affine3f& t, const String &id)
void temp_viz::Viz3d::addCoordinateSystem(double scale, const Affine3f& t, const String& id)
{
impl_->addCoordinateSystem(scale, t, id);
}
@@ -38,22 +37,22 @@ bool temp_viz::Viz3d::addPointCloudNormals (const Mat &cloud, const Mat& normals
return impl_->addPointCloudNormals(cloud, normals, level, scale, id);
}
bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String &id)
bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id)
{
return impl_->addPolygonMesh(mesh, Mat(), id);
}
bool temp_viz::Viz3d::updatePolygonMesh (const Mesh3d& mesh, const String &id)
bool temp_viz::Viz3d::updatePolygonMesh (const Mesh3d& mesh, const String& id)
{
return impl_->updatePolygonMesh(mesh, Mat(), id);
}
bool temp_viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const String &id)
bool temp_viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id)
{
return impl_->addPolylineFromPolygonMesh(mesh, id);
}
bool temp_viz::Viz3d::addText (const String &text, int xpos, int ypos, const Color& color, int fontsize, const String &id)
bool temp_viz::Viz3d::addText (const String &text, int xpos, int ypos, const Color& color, int fontsize, const String& id)
{
return impl_->addText(text, xpos, ypos, color, fontsize, id);
}
@@ -73,57 +72,57 @@ void temp_viz::Viz3d::spinOnce (int time, bool force_redraw)
impl_->spinOnce(time, force_redraw);
}
void temp_viz::Viz3d::showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
void temp_viz::Viz3d::showLine(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
{
impl_->showLine(id, pt1, pt2, color);
}
void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Color &color)
void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coefs, const Color& color)
{
impl_->showPlane(id, coefs, color);
}
void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color)
void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coefs, const Point3f& pt, const Color& color)
{
impl_->showPlane(id, coefs, pt, color);
}
void temp_viz::Viz3d::showCube(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
void temp_viz::Viz3d::showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
{
impl_->showCube(id, pt1, pt2, color);
}
void temp_viz::Viz3d::showCylinder(const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color)
void temp_viz::Viz3d::showCylinder(const String& id, const Point3f& pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color& color)
{
impl_->showCylinder(id, pt_on_axis, axis_direction, radius, num_sides, color);
}
void temp_viz::Viz3d::showCircle(const String &id, const Point3f &pt, double radius, const Color &color)
void temp_viz::Viz3d::showCircle(const String& id, const Point3f& pt, double radius, const Color& color)
{
impl_->showCircle(id, pt, radius, color);
}
void temp_viz::Viz3d::showSphere (const String &id, const Point3f &pt, double radius, const Color &color)
void temp_viz::Viz3d::showSphere (const String& id, const Point3f& pt, double radius, const Color& color)
{
impl_->showSphere(id, pt, radius, color);
}
void temp_viz::Viz3d::showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
void temp_viz::Viz3d::showArrow (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
{
impl_->showArrow(id,pt1,pt2,color);
}
cv::Affine3f temp_viz::Viz3d::getShapePose(const String &id)
cv::Affine3f temp_viz::Viz3d::getShapePose(const String& id)
{
return impl_->getShapePose(id);
}
bool temp_viz::Viz3d::setShapePose(const String &id, const Affine3f &pose)
void temp_viz::Viz3d::setShapePose(const String& id, const Affine3f &pose)
{
return impl_->setShapePose(id, pose);
impl_->setShapePose(id, pose);
}
bool temp_viz::Viz3d::removeCoordinateSystem (const String &id)
bool temp_viz::Viz3d::removeCoordinateSystem (const String& id)
{
return impl_->removeCoordinateSystem(id);
}

77
modules/viz/src/viz3d_impl.cpp
View File

@@ -53,7 +53,7 @@ void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _clou
// If the cloud already exists, update otherwise create new one
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
bool exist = (am_it == cloud_actor_map_->end());
bool exist = am_it == cloud_actor_map_->end();
if (exist)
{
// Add as new cloud
@@ -181,7 +181,7 @@ void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _clou
// If the cloud already exists, update otherwise create new one
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
bool exist = (am_it == cloud_actor_map_->end());
bool exist = am_it == cloud_actor_map_->end();
if (exist)
{
// Add as new cloud
@@ -292,7 +292,7 @@ bool temp_viz::Viz3d::VizImpl::addPointCloudNormals (const cv::Mat &cloud, const
CV_Assert(cloud.size() == normals.size() && cloud.type() == CV_32FC3 && normals.type() == CV_32FC3);
if (cloud_actor_map_->find (id) != cloud_actor_map_->end ())
return (false);
return false;
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
@@ -380,11 +380,11 @@ bool temp_viz::Viz3d::VizImpl::addPointCloudNormals (const cv::Mat &cloud, const
}
void temp_viz::Viz3d::VizImpl::showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color)
void temp_viz::Viz3d::VizImpl::showLine (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
// If it exists just update
if (exists)
@@ -416,11 +416,11 @@ void temp_viz::Viz3d::VizImpl::showLine (const String &id, const cv::Point3f &pt
}
}
void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coefs, const Color &color)
void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coefs, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
Color c = vtkcolor(color);
// If it exists just update
if (exists)
@@ -451,11 +451,11 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coe
}
}
void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color)
void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coefs, const Point3f& pt, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
Color c = vtkcolor(color);
// If it exists just update
if (exists)
@@ -486,11 +486,11 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coe
}
}
void temp_viz::Viz3d::VizImpl::showCube (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
void temp_viz::Viz3d::VizImpl::showCube (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
Color c = vtkcolor(color);
// If it exists just update
if (exists)
@@ -521,11 +521,11 @@ void temp_viz::Viz3d::VizImpl::showCube (const String &id, const Point3f &pt1, c
}
}
void temp_viz::Viz3d::VizImpl::showCylinder (const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color)
void temp_viz::Viz3d::VizImpl::showCylinder (const String& id, const Point3f& pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
Color c = vtkcolor(color);
// If it exists just update
if (exists)
@@ -556,11 +556,11 @@ void temp_viz::Viz3d::VizImpl::showCylinder (const String &id, const Point3f &pt
}
}
void temp_viz::Viz3d::VizImpl::showCircle (const String &id, const Point3f &pt, double radius, const Color &color)
void temp_viz::Viz3d::VizImpl::showCircle (const String& id, const Point3f& pt, double radius, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
Color c = vtkcolor(color);
// If it exists just update
if (exists)
@@ -591,11 +591,11 @@ void temp_viz::Viz3d::VizImpl::showCircle (const String &id, const Point3f &pt,
}
}
void temp_viz::Viz3d::VizImpl::showSphere (const String &id, const Point3f &pt, double radius, const Color &color)
void temp_viz::Viz3d::VizImpl::showSphere (const String& id, const Point3f& pt, double radius, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
Color c = vtkcolor(color);
// If it exists just update
if (exists)
@@ -626,11 +626,11 @@ void temp_viz::Viz3d::VizImpl::showSphere (const String &id, const Point3f &pt,
}
}
void temp_viz::Viz3d::VizImpl::showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
void temp_viz::Viz3d::VizImpl::showArrow (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
bool exists = am_it != shape_actor_map_->end();
Color c = vtkcolor(color);
// If it exists just update
@@ -662,49 +662,24 @@ void temp_viz::Viz3d::VizImpl::showArrow (const String &id, const Point3f &pt1,
}
}
cv::Affine3f temp_viz::Viz3d::VizImpl::getShapePose (const String &id)
cv::Affine3f temp_viz::Viz3d::VizImpl::getShapePose (const String& id)
{
// Get the shape with the id and return the pose
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
if (!exists)
{
std::cout << "[getShapePose] A shape with id <" << id << "> does not exist!" << std::endl;
return Affine3f();
}
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f pose_mat;
convertToCvMatrix(matrix, pose_mat);
Affine3f pose;
pose.matrix = pose_mat;
return pose;
CV_Assert(am_it != shape_actor_map_->end());
vtkLODActor* actor = vtkLODActor::SafeDownCast(am_it->second);
return Affine3f(convertToMatx(actor->GetUserMatrix()));
}
bool temp_viz::Viz3d::VizImpl::setShapePose (const String &id, const Affine3f &pose)
void temp_viz::Viz3d::VizImpl::setShapePose (const String& id, const Affine3f &pose)
{
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
bool exists = (am_it != shape_actor_map_->end());
if (!exists)
{
return false;
}
CV_Assert(am_it != shape_actor_map_->end());
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
convertToVtkMatrix (pose.matrix, matrix);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
return (true);
}
bool temp_viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)

21
modules/viz/src/viz_main.cpp
View File

@@ -97,14 +97,12 @@ void temp_viz::Viz3d::VizImpl::saveScreenshot (const std::string &file) { style_
/////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie)
{
// Register the callback function in the interactor style
style_->registerMouseCallback(callback, cookie);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::Viz3d::VizImpl::registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie)
{
// Register the callback function in the interactor style
style_->registerKeyboardCallback(callback, cookie);
}
@@ -1205,6 +1203,15 @@ void temp_viz::convertToVtkMatrix (const cv::Matx44f &m, vtkSmartPointer<vtkMatr
vtk_matrix->SetElement (i, k, m (i, k));
}
vtkSmartPointer<vtkMatrix4x4> temp_viz::convertToVtkMatrix (const cv::Matx44f &m)
{
vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
vtk_matrix->SetElement(i, k, m(i, k));
return vtk_matrix;
}
void temp_viz::convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m)
{
for (int i = 0; i < 4; i++)
@@ -1212,6 +1219,16 @@ void temp_viz::convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matri
m(i,k) = vtk_matrix->GetElement (i, k);
}
cv::Matx44f temp_viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
{
cv::Matx44f m;
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
m(i, k) = vtk_matrix->GetElement (i, k);
return m;
}
//////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::convertToEigenMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, Eigen::Matrix4f &m)
{