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refactored simple trajectory to use TensorGlyph

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This commit is contained in:
Anatoly Baksheev
2014-01-07 21:37:33 +04:00
parent 771d9509a8
commit a8556134ae
6 changed files with 226 additions and 93 deletions
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modules/viz/src/shapes.cpp
+23 -90
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@@ -1145,106 +1145,39 @@ namespace cv { namespace viz { namespace
cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double scale, const Color &color)
{
CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT);
CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16));
const Affine3d* dpath = _path.getMat().ptr<Affine3d>(), *dend = dpath + _path.total();
const Affine3f* fpath = _path.getMat().ptr<Affine3f>(), *fend = fpath + _path.total();
std::vector<Affine3d> path;
if (_path.depth() == CV_32F)
path.assign(fpath, fend);
if (_path.depth() == CV_64F)
path.assign(dpath, dend);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
// Bitwise and with 3 in order to limit the domain to 2 bits
if ((~display_mode & 3) ^ WTrajectory::PATH)
if (display_mode & WTrajectory::PATH)
{
// Create a poly line along the path
vtkIdType nr_points = path.size();
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
points->SetDataTypeToFloat();
points->SetNumberOfPoints(nr_points);
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New();
polyLine->GetPointIds()->SetNumberOfIds(nr_points);
Vec3f *data_beg = vtkpoints_data<float>(points);
for (vtkIdType i = 0; i < nr_points; ++i)
{
Vec3f cam_pose = path[i].translation();
*data_beg++ = cam_pose;
polyLine->GetPointIds()->SetId(i,i);
}
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(polyLine);
polyData->SetPoints(points);
polyData->SetLines(cells);
// Set the color for polyData
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
colors->SetNumberOfComponents(3);
colors->SetNumberOfTuples(nr_points);
colors->FillComponent(0, color[2]);
colors->FillComponent(1, color[1]);
colors->FillComponent(2, color[0]);
polyData->GetPointData()->SetScalars(colors);
#if VTK_MAJOR_VERSION <= 5
appendFilter->AddInputConnection(polyData->GetProducerPort());
#else
appendFilter->AddInputData(polyData);
#endif
Mat points = vtkTrajectorySource::ExtractPoints(_path);
vtkSmartPointer<vtkPolyData> polydata = getPolyData(WPolyLine(points, color));
appendFilter->AddInputConnection(polydata->GetProducerPort());
}
if ((~display_mode & 3) ^ WTrajectory::FRAMES)
vtkSmartPointer<vtkTensorGlyph> tensor_glyph;
if (display_mode & WTrajectory::FRAMES)
{
// Create frames and transform along the path
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin(0, 0, 0);
axes->SetScaleFactor(scale);
vtkSmartPointer<vtkTrajectorySource> source = vtkSmartPointer<vtkTrajectorySource>::New();
source->SetTrajectory(_path);
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> glyph = getPolyData(WCoordinateSystem(scale));
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput();
#if VTK_MAJOR_VERSION <= 5
axes_data->Update();
#else
axes->Update();
#endif
axes_data->GetPointData()->SetScalars(axes_colors);
tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
tensor_glyph->SetInputConnection(source->GetOutputPort());
tensor_glyph->SetSourceConnection(glyph->GetProducerPort());
tensor_glyph->ExtractEigenvaluesOff(); // Treat as a rotation matrix, not as something with eigenvalues
tensor_glyph->ThreeGlyphsOff();
tensor_glyph->SymmetricOff();
tensor_glyph->ColorGlyphsOff();
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New();
#if VTK_MAJOR_VERSION <= 5
axes_tubes->SetInput(axes_data);
#else
axes_tubes->SetInputData(axes_data);
#endif
axes_tubes->SetRadius(axes->GetScaleFactor() / 50.0);
axes_tubes->SetNumberOfSides(6);
axes_tubes->Update();
TrajectoryUtils::applyPath(axes_tubes->GetOutput(), appendFilter, path);
appendFilter->AddInputConnection(tensor_glyph->GetOutputPort());
}
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, appendFilter->GetOutput());
mapper->SetScalarModeToUsePointData();
mapper->SetInputConnection(appendFilter->GetOutputPort());
mapper->SetScalarRange(0, 255);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
@@ -1269,12 +1202,12 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &p
double c_y = K(1,2);
double aspect_ratio = f_y / f_x;
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI;
double fovy = 2.0 * atan2(c_y, f_y) * 180 / CV_PI;
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->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);
double planesArray[24];