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refactoring

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This commit is contained in:
Anatoly Baksheev
2013-12-12 23:46:41 +04:00
parent 7dbf6bc8df
commit 80ab6e889f
12 changed files with 147 additions and 266 deletions
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modules/viz/src/shapes.cpp
+12 -34
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@@ -41,9 +41,6 @@
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#include "precomp.hpp"
@@ -63,7 +60,6 @@ cv::viz::WLine::WLine(const Point3f &pt1, const Point3f &pt2, const Color &color
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
line->SetPoint1(pt1.x, pt1.y, pt1.z);
line->SetPoint2(pt2.x, pt2.y, pt2.z);
line->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(line->GetOutputPort());
@@ -165,7 +161,6 @@ cv::viz::WSphere::WSphere(const Point3f &center, float radius, int sphere_resolu
sphere->SetPhiResolution(sphere_resolution);
sphere->SetThetaResolution(sphere_resolution);
sphere->LatLongTessellationOff();
sphere->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(sphere->GetOutputPort());
@@ -194,44 +189,27 @@ cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, float thickness,
arrowSource->SetTipRadius(thickness * 3.0);
arrowSource->SetTipLength(thickness * 10.0);
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];
Vec3f startPoint(pt1.x, pt1.y, pt1.z), endPoint(pt2.x, pt2.y, pt2.z);
Vec3f arbitrary(theRNG().uniform(-10.f, 10.f), theRNG().uniform(-10.f, 10.f), theRNG().uniform(-10.f, 10.f));
double length = cv::norm(endPoint - startPoint);
// 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();
Vec3f xvec = normalized(endPoint - startPoint);
Vec3f zvec = normalized(xvec.cross(arbitrary));
Vec3f yvec = zvec.cross(xvec);
// Create the direction cosine matrix
vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
matrix->Identity();
for (unsigned int i = 0; i < 3; i++)
for (int i = 0; i < 3; ++i)
{
matrix->SetElement(i, 0, normalizedX[i]);
matrix->SetElement(i, 1, normalizedY[i]);
matrix->SetElement(i, 2, normalizedZ[i]);
matrix->SetElement(i, 0, xvec[i]);
matrix->SetElement(i, 1, yvec[i]);
matrix->SetElement(i, 2, zvec[i]);
}
// Apply the transforms
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->Translate(startPoint);
transform->Translate(startPoint.val);
transform->Concatenate(matrix);
transform->Scale(length, length, length);