111 lines
4.4 KiB
C++
111 lines
4.4 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#include "precomp.hpp"
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namespace cv { namespace viz
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{
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vtkStandardNewMacro(vtkTrajectorySource);
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}}
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cv::viz::vtkTrajectorySource::vtkTrajectorySource() { SetNumberOfInputPorts(0); }
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cv::viz::vtkTrajectorySource::~vtkTrajectorySource() {}
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void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj)
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{
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CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
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CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
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Mat traj;
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_traj.getMat().convertTo(traj, CV_64F);
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const Affine3d* dpath = traj.ptr<Affine3d>();
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size_t total = traj.total();
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points = vtkSmartPointer<vtkPoints>::New();
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points->SetDataType(VTK_DOUBLE);
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points->SetNumberOfPoints((vtkIdType)total);
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tensors = vtkSmartPointer<vtkDoubleArray>::New();
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tensors->SetNumberOfComponents(9);
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tensors->SetNumberOfTuples((vtkIdType)total);
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for(size_t i = 0; i < total; ++i, ++dpath)
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{
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Matx33d R = dpath->rotation().t(); // transposed because of
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tensors->SetTuple((vtkIdType)i, R.val); // column major order
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Vec3d p = dpath->translation();
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points->SetPoint((vtkIdType)i, p.val);
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}
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}
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cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj)
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{
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CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
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CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
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Mat points(1, (int)_traj.total(), CV_MAKETYPE(_traj.depth(), 3));
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const Affine3d* dpath = _traj.getMat().ptr<Affine3d>();
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const Affine3f* fpath = _traj.getMat().ptr<Affine3f>();
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if (_traj.depth() == CV_32F)
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for(int i = 0; i < points.cols; ++i)
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points.at<Vec3f>(i) = fpath[i].translation();
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if (_traj.depth() == CV_64F)
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for(int i = 0; i < points.cols; ++i)
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points.at<Vec3d>(i) = dpath[i].translation();
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return points;
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}
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int cv::viz::vtkTrajectorySource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
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{
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vtkInformation *outInfo = outputVector->GetInformationObject(0);
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vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));
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output->SetPoints(points);
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output->GetPointData()->SetTensors(tensors);
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return 1;
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}
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