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refactored WGrid

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This commit is contained in:
Anatoly Baksheev
2014-01-12 15:22:26 +04:00
parent 658f4a7d38
commit e2ef558c8a
4 changed files with 53 additions and 122 deletions
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modules/viz/src/shapes.cpp
+23 -102
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@@ -144,10 +144,10 @@ cv::viz::WPlane::WPlane(const Size2d& size, const Color &color)
setColor(color);
}
cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis, const Size2d& size, const Color &color)
cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Size2d& size, const Color &color)
{
Vec3d zvec = normalize(normal);
Vec3d xvec = normalize(new_plane_yaxis.cross(zvec));
Vec3d xvec = normalize(new_yaxis.cross(zvec));
Vec3d yvec = zvec.cross(xvec);
WPlane plane(size, color);
@@ -155,51 +155,6 @@ cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d&
*this = plane;
}
cv::viz::WPlane::WPlane(const Vec4d& coefs, double size, const Color &color)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
plane->SetNormal(coefs[0], coefs[1], coefs[2]);
double norm = cv::norm(Vec3d(coefs.val));
plane->Push(-coefs[3] / norm);
Vec3d p_center;
plane->GetOrigin(p_center.val);
vtkSmartPointer<vtkTransformPolyDataFilter> filter = PlaneUtils::setSize(p_center, plane->GetOutputPort(), size);
filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, filter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
cv::viz::WPlane::WPlane(const Vec4d& coefs, const Point3d& pt, double size, const Color &color)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
Point3d coefs3(coefs[0], coefs[1], coefs[2]);
double norm_sqr = 1.0 / coefs3.dot(coefs3);
plane->SetNormal(coefs[0], coefs[1], coefs[2]);
double t = coefs3.dot(pt) + coefs[3];
Vec3d p_center = pt - coefs3 * t * norm_sqr;
plane->SetCenter(p_center[0], p_center[1], p_center[2]);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(PlaneUtils::setSize(p_center, plane->GetOutputPort(), size)->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
}
template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
{
Widget3D widget = this->cast<Widget3D>();
@@ -500,38 +455,26 @@ template<> cv::viz::WPolyLine cv::viz::Widget::cast<cv::viz::WPolyLine>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// grid widget implementation
namespace cv { namespace viz { namespace
cv::viz::WGrid::WGrid(const Vec2i &cells, const Vec2d &cells_spacing, const Color &color)
{
struct GridUtils
{
static vtkSmartPointer<vtkPolyData> createGrid(const Vec2i &dimensions, const Vec2f &spacing)
{
// Create the grid using image data
vtkSmartPointer<vtkImageData> grid = vtkSmartPointer<vtkImageData>::New();
vtkSmartPointer<vtkImageData> grid_data = vtkSmartPointer<vtkImageData>::New();
// Add 1 to dimensions because in ImageData dimensions is the number of lines
// - however here it means number of cells
grid->SetDimensions(dimensions[0]+1, dimensions[1]+1, 1);
grid->SetSpacing(spacing[0], spacing[1], 0.);
// Add 1 to dimensions because in ImageData dimensions is the number of lines
// - however here it means number of cells
grid_data->SetDimensions(cells[0]+1, cells[1]+1, 1);
grid_data->SetSpacing(cells_spacing[0], cells_spacing[1], 0.);
// Set origin of the grid to be the middle of the grid
grid->SetOrigin(dimensions[0] * spacing[0] * (-0.5), dimensions[1] * spacing[1] * (-0.5), 0);
// Set origin of the grid to be the middle of the grid
grid_data->SetOrigin(cells[0] * cells_spacing[0] * (-0.5), cells[1] * cells_spacing[1] * (-0.5), 0);
// Extract the edges so we have the grid
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInputConnection(grid->GetProducerPort());
filter->Update();
return filter->GetOutput();
}
};
}}}
cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
{
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
// Extract the edges so we have the grid
vtkSmartPointer<vtkExtractEdges> extract_edges = vtkSmartPointer<vtkExtractEdges>::New();
extract_edges->SetInputConnection(grid_data->GetProducerPort());
extract_edges->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, grid);
VtkUtils::SetInputData(mapper, extract_edges->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
@@ -540,37 +483,15 @@ cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color
setColor(color);
}
cv::viz::WGrid::WGrid(const Vec4d &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
cv::viz::WGrid::WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, const Vec2i &cells, const Vec2d &cells_spacing, const Color &color)
{
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
Vec3d zvec = normalize(normal);
Vec3d xvec = normalize(new_yaxis.cross(zvec));
Vec3d yvec = zvec.cross(xvec);
// Estimate the transform to set the normal based on the coefficients
Vec3d normal(coefs[0], coefs[1], coefs[2]);
Vec3d up_vector(0.0, 1.0, 0.0); // Just set as default
double push_distance = -coefs[3]/cv::norm(Vec3d(coefs.val));
Vec3d n = normalize(normal);
Vec3d u = normalize(up_vector.cross(n));
Vec3d v = n.cross(u);
Affine3d pose = makeTransformToGlobal(u, v, n, n * push_distance);
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->SetMatrix(vtkmatrix(pose.matrix));
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
transform_filter->SetInputConnection(grid->GetProducerPort());
transform_filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, transform_filter->GetOutput());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color);
WGrid grid(cells, cells_spacing, color);
grid.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
*this = grid;
}
template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()