potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-31 08:13:04 +04:00
Code Packages Releases Wiki Activity

added test for trajectories and fixed bug with float type

Browse Source
This commit is contained in:
Anatoly Baksheev
2014-01-08 19:43:20 +04:00
parent 64566e6178
commit 25b417e8b2
9 changed files with 128 additions and 105 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/viz/src/shapes.cpp
+39 -40
View File
@@ -70,6 +70,35 @@ template<> cv::viz::WLine cv::viz::Widget::cast<cv::viz::WLine>()
return static_cast<WLine&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// sphere widget implementation
cv::viz::WSphere::WSphere(const Point3d &center, double radius, int sphere_resolution, const Color &color)
{
vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New();
sphere->SetRadius(radius);
sphere->SetCenter(center.x, center.y, center.z);
sphere->SetPhiResolution(sphere_resolution);
sphere->SetThetaResolution(sphere_resolution);
sphere->LatLongTessellationOff();
sphere->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, sphere->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WSphere&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// plane widget implementation
@@ -143,51 +172,21 @@ template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
return static_cast<WPlane&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// sphere widget implementation
cv::viz::WSphere::WSphere(const Point3d &center, double radius, int sphere_resolution, const Color &color)
{
vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New();
sphere->SetRadius(radius);
sphere->SetCenter(center.x, center.y, center.z);
sphere->SetPhiResolution(sphere_resolution);
sphere->SetThetaResolution(sphere_resolution);
sphere->LatLongTessellationOff();
sphere->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, sphere->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WSphere&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// arrow widget implementation
cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness, const Color &color)
{
vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New();
arrowSource->SetShaftRadius(thickness);
// The thickness and radius of the tip are adjusted based on the thickness of the arrow
arrowSource->SetTipRadius(thickness * 3.0);
arrowSource->SetTipLength(thickness * 10.0);
vtkSmartPointer<vtkArrowSource> arrow_source = vtkSmartPointer<vtkArrowSource>::New();
arrow_source->SetShaftRadius(thickness);
arrow_source->SetTipRadius(thickness * 3.0);
arrow_source->SetTipLength(thickness * 10.0);
RNG rng = theRNG();
Vec3d arbitrary(rng.uniform(-10.0, 10.0), rng.uniform(-10.0, 10.0), rng.uniform(-10.0, 10.0));
Vec3d startPoint(pt1.x, pt1.y, pt1.z), endPoint(pt2.x, pt2.y, pt2.z);
double length = cv::norm(endPoint - startPoint);
double length = norm(endPoint - startPoint);
Vec3d xvec = normalized(endPoint - startPoint);
Vec3d zvec = normalized(xvec.cross(arbitrary));
@@ -204,7 +203,7 @@ cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness
// Transform the polydata
vtkSmartPointer<vtkTransformPolyDataFilter> transformPD = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transformPD->SetTransform(transform);
transformPD->SetInputConnection(arrowSource->GetOutputPort());
transformPD->SetInputConnection(arrow_source->GetOutputPort());
transformPD->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
@@ -908,14 +907,14 @@ namespace cv { namespace viz { namespace
actor->SetTexture(texture);
}
static vtkSmartPointer<vtkPolyData> createFrustrum(double aspect_ratio, double fovy, double scale)
static vtkSmartPointer<vtkPolyData> createFrustum(double aspect_ratio, double fovy, double scale)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
camera->SetViewAngle(fovy);
camera->SetPosition(0.0, 0.0, 0.0);
camera->SetViewUp(0.0, 1.0, 0.0);
camera->SetFocalPoint(0.0, 0.0, 1.0);
camera->SetClippingRange(0.01, scale);
camera->SetClippingRange(1e-9, scale);
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
@@ -956,7 +955,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const
double fovy = 2.0 * atan2(c_y, f_y) * 180 / CV_PI;
double aspect_ratio = f_y / f_x;
vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustrum(aspect_ratio, fovy, scale);
vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, polydata);
@@ -973,7 +972,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
double fovy = fov[1] * 180 / CV_PI;
vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustrum(aspect_ratio, fovy, scale);
vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustum(aspect_ratio, fovy, scale);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, polydata);