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initial implementation of trajectory widget

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This commit is contained in:
ozantonkal 2013-07-22 12:53:19 +02:00
parent 13a2516a6a
commit f3b228c91f
2 changed files with 109 additions and 0 deletions
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8
modules/viz/include/opencv2/viz/widgets.hpp
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@ -172,6 +172,14 @@ namespace cv
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());
};
class CV_EXPORTS TrajectoryWidget : public Widget3D
{
public:
TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color = Color::white(), bool show_frames = false, double scale = 1.0);
// TrajectoryWidget(const std::vector<Affine3f> &path, double scale = 1.0);
TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K); // Camera frustums
};
class CV_EXPORTS CloudWidget : public Widget3D
{

101
modules/viz/src/shape_widgets.cpp
View File

@ -960,3 +960,104 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double sca
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// trajectory widget implementation
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color, bool show_frames, double scale)
{
vtkIdType nr_points = path.size();
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
points->SetDataTypeToFloat();
points->SetNumberOfPoints(nr_points);
polyLine->GetPointIds()->SetNumberOfIds(nr_points);
Vec3f last_pos(0.0f,0.0f,0.0f);
Vec3f *data_beg = vtkpoints_data<float>(points);
*data_beg = path[0] * last_pos;
for (vtkIdType i = 0; i < nr_points; ++i)
{
last_pos = path[i] * last_pos;
*data_beg++ = last_pos;
polyLine->GetPointIds()->SetId(i,i);
}
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(polyLine);
polyData->SetPoints(points);
polyData->SetLines(cells);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
if (show_frames)
{
vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
mat_trans->Identity();
for (vtkIdType i = 0; i < nr_points; ++i)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
vtkSmartPointer<vtkUnsignedCharArray> axes_colors = vtkSmartPointer<vtkUnsignedCharArray>::New ();
axes_colors->SetNumberOfComponents(3);
axes_colors->InsertNextTuple3(255,0,0);
axes_colors->InsertNextTuple3(255,0,0);
axes_colors->InsertNextTuple3(0,255,0);
axes_colors->InsertNextTuple3(0,255,0);
axes_colors->InsertNextTuple3(0,0,255);
axes_colors->InsertNextTuple3(0,0,255);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
// Transform the default coordinate frame
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
vtkMatrix4x4::Multiply4x4(convertToVtkMatrix(path[i].matrix), mat_trans, mat_trans);
transform->SetMatrix(mat_trans);
vtkSmartPointer<vtkTransformPolyDataFilter> filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
filter->SetInput(axes_data);
filter->SetTransform(transform);
filter->Update();
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
axes_tubes->SetInput (filter->GetOutput());
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
appendFilter->AddInputConnection(axes_tubes->GetOutputPort());
}
}
// Set the color only for polyData
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetNumberOfComponents(3);
// TODO Make this more efficient
for (int i = 0; i < nr_points; ++i)
colors->InsertNextTuple3(color[2], color[1], color[0]);
polyData->GetPointData()->SetScalars(colors);
appendFilter->AddInputConnection(polyData->GetProducerPort());
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetScalarModeToUsePointData ();
mapper->SetInput(appendFilter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}