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refactored WImage3D

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This commit is contained in:
Anatoly Baksheev
2014-01-10 19:57:16 +04:00
parent f37c31742a
commit e3ff28dacc
10 changed files with 134 additions and 136 deletions
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modules/viz/src/shapes.cpp
+27 -92
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@@ -294,18 +294,18 @@ template<> cv::viz::WCylinder cv::viz::Widget::cast<cv::viz::WCylinder>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation
cv::viz::WCube::WCube(const Point3d& pt_min, const Point3d& pt_max, bool wire_frame, const Color &color)
cv::viz::WCube::WCube(const Point3d& min_point, const Point3d& max_point, bool wire_frame, const Color &color)
{
vtkSmartPointer<vtkPolyDataAlgorithm> cube;
if (wire_frame)
{
cube = vtkSmartPointer<vtkOutlineSource>::New();
vtkOutlineSource::SafeDownCast(cube)->SetBounds(pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
vtkOutlineSource::SafeDownCast(cube)->SetBounds(min_point.x, max_point.x, min_point.y, max_point.y, min_point.z, max_point.z);
}
else
{
cube = vtkSmartPointer<vtkCubeSource>::New();
vtkCubeSource::SafeDownCast(cube)->SetBounds(pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
vtkCubeSource::SafeDownCast(cube)->SetBounds(min_point.x, max_point.x, min_point.y, max_point.y, min_point.z, max_point.z);
}
cube->Update();
@@ -620,10 +620,9 @@ cv::viz::WImageOverlay::WImageOverlay(const Mat &image, const Rect &rect)
vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
source->SetImage(image);
// Need to flip the image as the coordinates are different in OpenCV and VTK
vtkSmartPointer<vtkImageFlip> flip_filter = vtkSmartPointer<vtkImageFlip>::New();
flip_filter->SetFilteredAxis(1); // Vertical flip
flip_filter->SetInputConnection(source->GetOutputPort());
flip_filter->SetFilteredAxis(1);
// Scale the image based on the Rect
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
@@ -663,13 +662,11 @@ void cv::viz::WImageOverlay::setImage(const Mat &image)
vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
source->SetImage(image);
// Need to flip the image as the coordinates are different in OpenCV and VTK
vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
flipFilter->SetFilteredAxis(1); // Vertical flip
flipFilter->SetInputConnection(source->GetOutputPort());
flipFilter->Update();
vtkSmartPointer<vtkImageFlip> flip_filter = vtkSmartPointer<vtkImageFlip>::New();
flip_filter->SetInputConnection(source->GetOutputPort());
flip_filter->SetFilteredAxis(1);
mapper->SetInputConnection(flipFilter->GetOutputPort());
mapper->SetInputConnection(flip_filter->GetOutputPort());
}
template<> cv::viz::WImageOverlay cv::viz::Widget::cast<cv::viz::WImageOverlay>()
@@ -681,104 +678,49 @@ template<> cv::viz::WImageOverlay cv::viz::Widget::cast<cv::viz::WImageOverlay>(
///////////////////////////////////////////////////////////////////////////////////////////////
/// image 3D widget implementation
cv::viz::WImage3D::WImage3D(const Mat &image, const Size &size)
cv::viz::WImage3D::WImage3D(const Mat &image, const Size2d &size)
{
CV_Assert(!image.empty() && image.depth() == CV_8U);
vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
source->SetImage(image);
// Need to flip the image as the coordinates are different in OpenCV and VTK
vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
flipFilter->SetFilteredAxis(1); // Vertical flip
flipFilter->SetInputConnection(source->GetOutputPort());
flipFilter->Update();
Vec3d plane_center(size.width * 0.5, size.height * 0.5, 0.0);
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
texture->SetInputConnection(source->GetOutputPort());
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
plane->SetCenter(plane_center[0], plane_center[1], plane_center[2]);
plane->SetNormal(0.0, 0.0, 1.0);
plane->SetOrigin(-0.5 * size.width, -0.5 * size.height, 0.0);
plane->SetPoint1( 0.5 * size.width, -0.5 * size.height, 0.0);
plane->SetPoint2(-0.5 * size.width, 0.5 * size.height, 0.0);
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->Translate(plane_center[0], plane_center[1], plane_center[2]);
transform->Scale(size.width, size.height, 1.0);
transform->Translate(-plane_center[0], -plane_center[1], -plane_center[2]);
vtkSmartPointer<vtkTextureMapToPlane> textured_plane = vtkSmartPointer<vtkTextureMapToPlane>::New();
textured_plane->SetInputConnection(plane->GetOutputPort());
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
transform_filter->SetInputConnection(plane->GetOutputPort());
transform_filter->Update();
// Apply the texture
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
texture->SetInputConnection(flipFilter->GetOutputPort());
vtkSmartPointer<vtkTextureMapToPlane> texturePlane = vtkSmartPointer<vtkTextureMapToPlane>::New();
texturePlane->SetInputConnection(transform_filter->GetOutputPort());
vtkSmartPointer<vtkPolyDataMapper> planeMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
planeMapper->SetInputConnection(texturePlane->GetOutputPort());
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(textured_plane->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(planeMapper);
actor->SetMapper(mapper);
actor->SetTexture(texture);
actor->GetProperty()->ShadingOff();
actor->GetProperty()->LightingOff();
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WImage3D::WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
cv::viz::WImage3D::WImage3D(const Mat &image, const Size2d &size, const Vec3d &center, const Vec3d &normal, const Vec3d &up_vector)
{
CV_Assert(!image.empty() && image.depth() == CV_8U);
// Create the vtk image and set its parameters based on input image
vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
source->SetImage(image);
// Need to flip the image as the coordinates are different in OpenCV and VTK
vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
flipFilter->SetFilteredAxis(1); // Vertical flip
flipFilter->SetInputConnection(source->GetOutputPort());
flipFilter->Update();
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
plane->SetCenter(0.0, 0.0, 0.0);
plane->SetNormal(0.0, 0.0, 1.0);
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3d n = normalize(normal);
Vec3d u = normalize(up_vector.cross(n));
Vec3d v = n.cross(u);
Affine3d pose = makeTransformToGlobal(u, v, n, center);
Affine3d pose = makeTransformToGlobal(u, v, n, position);
// Apply the texture
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
texture->SetInputConnection(flipFilter->GetOutputPort());
vtkSmartPointer<vtkTextureMapToPlane> texturePlane = vtkSmartPointer<vtkTextureMapToPlane>::New();
texturePlane->SetInputConnection(plane->GetOutputPort());
// Apply the transform after texture mapping
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply();
transform->SetMatrix(vtkmatrix(pose.matrix));
transform->Scale(size.width, size.height, 1.0);
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
transform_filter->SetInputConnection(texturePlane->GetOutputPort());
transform_filter->Update();
vtkSmartPointer<vtkPolyDataMapper> planeMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
planeMapper->SetInputConnection(transform_filter->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(planeMapper);
actor->SetTexture(texture);
WidgetAccessor::setProp(*this, actor);
WImage3D image3d(image, size);
image3d.applyTransform(pose);
*this = image3d;
}
void cv::viz::WImage3D::setImage(const Mat &image)
@@ -791,15 +733,8 @@ void cv::viz::WImage3D::setImage(const Mat &image)
vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
source->SetImage(image);
// Need to flip the image as the coordinates are different in OpenCV and VTK
vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
flipFilter->SetFilteredAxis(1); // Vertical flip
flipFilter->SetInputConnection(source->GetOutputPort());
flipFilter->Update();
// Apply the texture
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
texture->SetInputConnection(flipFilter->GetOutputPort());
texture->SetInputConnection(source->GetOutputPort());
actor->SetTexture(texture);
}