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refactored WGrid

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This commit is contained in:
Anatoly Baksheev 2014-01-12 15:22:26 +04:00
parent 658f4a7d38
commit e2ef558c8a
4 changed files with 53 additions and 122 deletions
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35
modules/viz/doc/widget.rst
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@ -291,13 +291,14 @@ Constructs a default plane with center point at origin and normal oriented along
:param color: :ocv:class:`Color` of the plane. :param color: :ocv:class:`Color` of the plane.
viz::WPlane::WPlane viz::WPlane::WPlane
-------------------
Constructs a repositioned plane Constructs a repositioned plane
.. ocv:function:: WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); .. ocv:function:: WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
:param center: Center of the plane :param center: Center of the plane
:param normal: Plane normal orientation :param normal: Plane normal orientation
:param new_plane_yaxis: Up-vector. New orientation of plane y-axis. :param new_yaxis: Up-vector. New orientation of plane y-axis.
:param color: :ocv:class:`Color` of the plane. :param color: :ocv:class:`Color` of the plane.
viz::WSphere viz::WSphere
@ -388,7 +389,7 @@ Constructs repositioned planar circle.
viz::WCone viz::WCone
----------------- -------------------------------
.. ocv:class:: WCone .. ocv:class:: WCone
This 3D Widget defines a cone. :: This 3D Widget defines a cone. ::
@ -527,28 +528,32 @@ This 3D Widget defines a grid. ::
class CV_EXPORTS WGrid : public Widget3D class CV_EXPORTS WGrid : public Widget3D
{ {
public: public:
//! Creates grid at the origin //! Creates grid at the origin and normal oriented along z-axis
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
//! Creates grid based on the plane equation
WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); //! Creates repositioned grid
WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
}; };
viz::WGrid::WGrid viz::WGrid::WGrid
--------------------------- ---------------------------
Constructs a WGrid. Constructs a WGrid.
.. ocv:function:: WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()) .. ocv:function:: WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
:param dimensions: Number of columns and rows, respectively. :param cells: Number of cell columns and rows, respectively.
:param spacing: Size of each column and row, respectively. :param cells_spacing: Size of each cell, respectively.
:param color: :ocv:class:`Color` of the grid. :param color: :ocv:class:`Color` of the grid.
.. ocv:function: WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()) .. ocv:function: WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, Vec2i &cells, const Vec2d &cells_spacing, const Color &color;
:param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0. :param center: Center of the grid
:param dimensions: Number of columns and rows, respectively. :param normal: Grid normal orientation
:param spacing: Size of each column and row, respectively. :param new_yaxis: Up-vector. New orientation of grid y-axis.
:param color: :ocv:class:`Color` of the grid. :param cells: Number of cell columns and rows, respectively.
:param cells_spacing: Size of each cell, respectively.
:param color: :ocv:class:`Color` of the grid..
viz::WText3D viz::WText3D
------------ ------------

13
modules/viz/include/opencv2/viz/widgets.hpp
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@ -149,7 +149,8 @@ namespace cv
WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
//! repositioned plane //! repositioned plane
WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
}; };
class CV_EXPORTS WSphere : public Widget3D class CV_EXPORTS WSphere : public Widget3D
@ -257,10 +258,12 @@ namespace cv
class CV_EXPORTS WGrid : public Widget3D class CV_EXPORTS WGrid : public Widget3D
{ {
public: public:
//! Creates grid at the origin //! Creates grid at the origin and normal oriented along z-axis
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
//! Creates grid based on the plane equation
WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); //! Creates repositioned grid
WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
}; };
class CV_EXPORTS WCameraPosition : public Widget3D class CV_EXPORTS WCameraPosition : public Widget3D

125
modules/viz/src/shapes.cpp
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@ -144,10 +144,10 @@ cv::viz::WPlane::WPlane(const Size2d& size, const Color &color)
setColor(color); setColor(color);
} }
cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis, const Size2d& size, const Color &color) cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Size2d& size, const Color &color)
{ {
Vec3d zvec = normalize(normal); Vec3d zvec = normalize(normal);
Vec3d xvec = normalize(new_plane_yaxis.cross(zvec)); Vec3d xvec = normalize(new_yaxis.cross(zvec));
Vec3d yvec = zvec.cross(xvec); Vec3d yvec = zvec.cross(xvec);
WPlane plane(size, color); WPlane plane(size, color);
@ -155,51 +155,6 @@ cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d&
*this = plane; *this = plane;
} }
cv::viz::WPlane::WPlane(const Vec4d& coefs, double size, const Color &color)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
plane->SetNormal(coefs[0], coefs[1], coefs[2]);
double norm = cv::norm(Vec3d(coefs.val));
plane->Push(-coefs[3] / norm);
Vec3d p_center;
plane->GetOrigin(p_center.val);
vtkSmartPointer<vtkTransformPolyDataFilter> filter = PlaneUtils::setSize(p_center, plane->GetOutputPort(), size);
filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, filter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
cv::viz::WPlane::WPlane(const Vec4d& coefs, const Point3d& pt, double size, const Color &color)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
Point3d 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];
Vec3d p_center = pt - coefs3 * t * norm_sqr;
plane->SetCenter(p_center[0], p_center[1], p_center[2]);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(PlaneUtils::setSize(p_center, plane->GetOutputPort(), size)->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>() template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
@ -500,38 +455,26 @@ template<> cv::viz::WPolyLine cv::viz::Widget::cast<cv::viz::WPolyLine>()
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// grid widget implementation /// grid widget implementation
namespace cv { namespace viz { namespace
cv::viz::WGrid::WGrid(const Vec2i &cells, const Vec2d &cells_spacing, const Color &color)
{ {
struct GridUtils vtkSmartPointer<vtkImageData> grid_data = vtkSmartPointer<vtkImageData>::New();
{
static vtkSmartPointer<vtkPolyData> createGrid(const Vec2i &dimensions, const Vec2f &spacing)
{
// Create the grid using image data
vtkSmartPointer<vtkImageData> grid = vtkSmartPointer<vtkImageData>::New();
// Add 1 to dimensions because in ImageData dimensions is the number of lines // Add 1 to dimensions because in ImageData dimensions is the number of lines
// - however here it means number of cells // - however here it means number of cells
grid->SetDimensions(dimensions[0]+1, dimensions[1]+1, 1); grid_data->SetDimensions(cells[0]+1, cells[1]+1, 1);
grid->SetSpacing(spacing[0], spacing[1], 0.); grid_data->SetSpacing(cells_spacing[0], cells_spacing[1], 0.);
// Set origin of the grid to be the middle of the grid // Set origin of the grid to be the middle of the grid
grid->SetOrigin(dimensions[0] * spacing[0] * (-0.5), dimensions[1] * spacing[1] * (-0.5), 0); grid_data->SetOrigin(cells[0] * cells_spacing[0] * (-0.5), cells[1] * cells_spacing[1] * (-0.5), 0);
// Extract the edges so we have the grid // Extract the edges so we have the grid
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New(); vtkSmartPointer<vtkExtractEdges> extract_edges = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInputConnection(grid->GetProducerPort()); extract_edges->SetInputConnection(grid_data->GetProducerPort());
filter->Update(); extract_edges->Update();
return filter->GetOutput();
}
};
}}}
cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
{
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, grid); VtkUtils::SetInputData(mapper, extract_edges->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New(); vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
@ -540,37 +483,15 @@ cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color
setColor(color); setColor(color);
} }
cv::viz::WGrid::WGrid(const Vec4d &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color) cv::viz::WGrid::WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Vec2i &cells, const Vec2d &cells_spacing, const Color &color)
{ {
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing); Vec3d zvec = normalize(normal);
Vec3d xvec = normalize(new_yaxis.cross(zvec));
Vec3d yvec = zvec.cross(xvec);
// Estimate the transform to set the normal based on the coefficients WGrid grid(cells, cells_spacing, color);
Vec3d normal(coefs[0], coefs[1], coefs[2]); grid.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
Vec3d up_vector(0.0, 1.0, 0.0); // Just set as default *this = grid;
double push_distance = -coefs[3]/cv::norm(Vec3d(coefs.val));
Vec3d n = normalize(normal);
Vec3d u = normalize(up_vector.cross(n));
Vec3d v = n.cross(u);
Affine3d pose = makeTransformToGlobal(u, v, n, n * push_distance);
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->SetMatrix(vtkmatrix(pose.matrix));
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
transform_filter->SetInputConnection(grid->GetProducerPort());
transform_filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, transform_filter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
} }
template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>() template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()

2
modules/viz/test/tests_simple.cpp
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@ -309,6 +309,8 @@ TEST(Viz, show_simple_widgets)
viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75))); viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold())); viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold()));
viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
viz.spinOnce(1500, true); viz.spinOnce(1500, true);
viz.getWidget("text2d").cast<WText>().setText("New simple text"); viz.getWidget("text2d").cast<WText>().setText("New simple text");
viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D"); viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");