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ported some trajectories functionality to InputArray style

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This commit is contained in:
Anatoly Baksheev
2014-01-07 12:34:42 +04:00
parent 7b28f730f4
commit e26b7e1e4f
6 changed files with 120 additions and 140 deletions
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modules/viz/src/shapes.cpp
+10 -95
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@@ -1213,106 +1213,21 @@ namespace cv { namespace viz { namespace
};
}}}
cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &_path, int display_mode, float scale, const Color &color)
cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, float scale, const Color &color)
{
std::vector<Affine3d> path(_path.begin(), _path.end());
CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT);
CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16));
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
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;
// Bitwise and with 3 in order to limit the domain to 2 bits
if ((~display_mode & 3) ^ WTrajectory::PATH)
{
// Create a poly line along the path
vtkIdType nr_points = path.size();
if (_path.depth() == CV_32F)
path.assign(fpath, fend);
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
points->SetDataTypeToFloat();
points->SetNumberOfPoints(nr_points);
if (_path.depth() == CV_64F)
path.assign(dpath, dend);
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
}
if ((~display_mode & 3) ^ WTrajectory::FRAMES)
{
// Create frames and transform along the path
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin(0, 0, 0);
axes->SetScaleFactor(scale);
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> axes_data = axes->GetOutput();
#if VTK_MAJOR_VERSION <= 5
axes_data->Update();
#else
axes->Update();
#endif
axes_data->GetPointData()->SetScalars(axes_colors);
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);
}
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetScalarModeToUsePointData();
mapper->SetInputConnection(appendFilter->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3d> &path, int display_mode, float scale, const Color &color)
{
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
// Bitwise and with 3 in order to limit the domain to 2 bits