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circle widget and arrow widget implementation

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This commit is contained in:
ozantonkal 2013-07-04 16:54:46 +03:00
parent d80a965f97
commit f97c3c8b06
3 changed files with 115 additions and 5 deletions
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11
modules/viz/include/opencv2/viz/widgets.hpp
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@ -55,6 +55,17 @@ namespace temp_viz
public:
SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
};
class CV_EXPORTS ArrowWidget : public Widget
{
public:
ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color = Color::white());
};
class CV_EXPORTS CircleWidget : public Widget
{
public:
CircleWidget(const Point3f& pt, double radius, const Color &color = Color::white());
};
}

97
modules/viz/src/simple_widgets.cpp
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@ -89,4 +89,99 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
actor->SetMapper(mapper);
setColor(color);
}
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// arrow widget implementation
temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color)
{
vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New ();
float startPoint[3], endPoint[3];
startPoint[0] = pt1.x;
startPoint[1] = pt1.y;
startPoint[2] = pt1.z;
endPoint[0] = pt2.x;
endPoint[1] = pt2.y;
endPoint[2] = pt2.z;
float normalizedX[3], normalizedY[3], normalizedZ[3];
// The X axis is a vector from start to end
vtkMath::Subtract(endPoint, startPoint, normalizedX);
float length = vtkMath::Norm(normalizedX);
vtkMath::Normalize(normalizedX);
// The Z axis is an arbitrary vecotr cross X
float arbitrary[3];
arbitrary[0] = vtkMath::Random(-10,10);
arbitrary[1] = vtkMath::Random(-10,10);
arbitrary[2] = vtkMath::Random(-10,10);
vtkMath::Cross(normalizedX, arbitrary, normalizedZ);
vtkMath::Normalize(normalizedZ);
// The Y axis is Z cross X
vtkMath::Cross(normalizedZ, normalizedX, normalizedY);
vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
// Create the direction cosine matrix
matrix->Identity();
for (unsigned int i = 0; i < 3; i++)
{
matrix->SetElement(i, 0, normalizedX[i]);
matrix->SetElement(i, 1, normalizedY[i]);
matrix->SetElement(i, 2, normalizedZ[i]);
}
// Apply the transforms
vtkSmartPointer<vtkTransform> transform =
vtkSmartPointer<vtkTransform>::New();
transform->Translate(startPoint);
transform->Concatenate(matrix);
transform->Scale(length, length, length);
// Transform the polydata
vtkSmartPointer<vtkTransformPolyDataFilter> transformPD =
vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transformPD->SetTransform(transform);
transformPD->SetInputConnection(arrowSource->GetOutputPort());
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(transformPD->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
actor->SetMapper(mapper);
setColor(color);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// circle widget implementation
temp_viz::CircleWidget::CircleWidget(const Point3f& pt, double radius, const Color &color)
{
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
// Maybe the resolution should be lower e.g. 50 or 25
disk->SetCircumferentialResolution (100);
disk->SetInnerRadius (radius - 0.001);
disk->SetOuterRadius (radius + 0.001);
disk->SetCircumferentialResolution (20);
// Set the circle origin
vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
t->Identity ();
t->Translate (pt.x, pt.y, pt.z);
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (disk->GetOutputPort ());
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tf->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
actor->SetMapper(mapper);
setColor(color);
}

12
modules/viz/test/test_viz3d.cpp
View File

@ -91,15 +91,18 @@ TEST(Viz_viz3d, accuracy)
int col_blue = 0;
int col_green = 0;
int col_red = 0;
v.showCircle("circle1", cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
v.showArrow("arrow1", cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
// v.showCircle("circle1", cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
temp_viz::LineWidget lw(cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0,1.0,1.0), temp_viz::Color(0,255,0));
temp_viz::PlaneWidget pw(cv::Vec4f(0.0,1.0,2.0,3.0));
temp_viz::SphereWidget sw(cv::Point3f(0,0,0), 0.5);
temp_viz::ArrowWidget aw(cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
temp_viz::CircleWidget cw(cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
v.showWidget("line", lw);
v.showWidget("plane", pw);
v.showWidget("sphere", sw);
v.showWidget("arrow", aw);
v.showWidget("circle", cw);
temp_viz::LineWidget lw2 = lw;
@ -115,8 +118,7 @@ TEST(Viz_viz3d, accuracy)
// v.showPlane("plane1", cv::Vec4f(pos_x*pos_y,pos_y,pos_z,pos_x+pos_y*pos_z), temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
// v.showCube("cube1", cv::Point3f(pos_x, pos_y, pos_z), cv::Point3f(pos_x+0.5, pos_y+0.5, pos_z+0.5), temp_viz::Color(255,150,50));
// v.showCylinder("cylinder1", cv::Point3f(0,0,0), cv::Point3f(pos_x, 1.0, 1.0), 0.5, 5*pos_x+3, temp_viz::Color(0,255,0));
v.setShapePose("circle1", cloudPosition);
v.setShapePose("arrow1", cloudPosition);
// v.setShapePose("circle1", cloudPosition);
lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
lw.setLineWidth(lw.getLineWidth()+pos_x * 10);
@ -124,6 +126,8 @@ TEST(Viz_viz3d, accuracy)
sw.setPose(cloudPosition);
pw.setPose(cloudPosition);
aw.setPose(cloudPosition);
cw.setPose(cloudPosition);
angle_x += 0.1f;
angle_y -= 0.1f;