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Commit 2229d91c authored by Anatoly Baksheev's avatar Anatoly Baksheev
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Merge remote-tracking branch 'remotes/ozan/refactoring_shapeMethods' into viz 

Conflicts:
	modules/viz/test/test_viz3d.cpp
parents 909f905b 18300599
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Showing with 111 additions and 418 deletions
modules/viz/include/opencv2/viz/viz3d.hpp
View file @ 2229d91c
...@@ -31,6 +31,18 @@ namespace temp_viz ...@@ -31,6 +31,18 @@ namespace temp_viz
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity()); void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud"); bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
void showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
void showPlane(const String &id, const Vec4f &coefs, const Color &color = Color(255,255,255));
void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color = Color(255,255,255));
void showCube(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
void showCylinder(const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color = Color(255,255,255));
void showCircle(const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
void showSphere (const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
void showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
Affine3f getShapePose(const String &id);
bool setShapePose(const String &id, const Affine3f &pose);
bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane"); bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane"); bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");
......
modules/viz/src/precomp.hpp
View file @ 2229d91c
...@@ -49,6 +49,7 @@ ...@@ -49,6 +49,7 @@
#include <vtkDiskSource.h> #include <vtkDiskSource.h>
#include <vtkPlaneSource.h> #include <vtkPlaneSource.h>
#include <vtkSphereSource.h> #include <vtkSphereSource.h>
#include <vtkArrowSource.h>
#include <vtkIdentityTransform.h> #include <vtkIdentityTransform.h>
#include <vtkTransform.h> #include <vtkTransform.h>
#include <vtkTransformPolyDataFilter.h> #include <vtkTransformPolyDataFilter.h>
......
modules/viz/src/q/shapes.h
View file @ 2229d91c
...@@ -8,115 +8,13 @@ namespace temp_viz ...@@ -8,115 +8,13 @@ namespace temp_viz
{ {
CV_EXPORTS vtkSmartPointer<vtkDataSet> createLine (const cv::Point3f& pt1, const cv::Point3f& pt2); CV_EXPORTS vtkSmartPointer<vtkDataSet> createLine (const cv::Point3f& pt1, const cv::Point3f& pt2);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createSphere (const cv::Point3f &center, float radius, int sphere_resolution = 10); CV_EXPORTS vtkSmartPointer<vtkDataSet> createSphere (const cv::Point3f &center, float radius, int sphere_resolution = 10);
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCylinder (const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30);
/** \brief Create a cylinder shape from a set of model coefficients. CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const Vec4f& coefs);
* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius) CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const Vec4f& coefs, const Point3f& pt);
* \param[in] numsides (optional) the number of sides used for rendering the cylinder CV_EXPORTS vtkSmartPointer<vtkDataSet> create2DCircle (const Point3f& pt, double radius);
* CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube(const Point3f& pt_min, const Point3f& pt_max);
* \code CV_EXPORTS vtkSmartPointer<vtkDataSet> createSphere (const Point3f& pt, double radius);
* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder) CV_EXPORTS vtkSmartPointer<vtkDataSet> createArrow (const Point3f& pt1, const Point3f& pt2);
* // Eigen::Vector3f pt_on_axis, axis_direction;
* // float radius;
*
* temp_viz::ModelCoefficients cylinder_coeff;
* cylinder_coeff.values.resize (7); // We need 7 values
* cylinder_coeff.values[0] = pt_on_axis.x ();
* cylinder_coeff.values[1] = pt_on_axis.y ();
* cylinder_coeff.values[2] = pt_on_axis.z ();
*
* cylinder_coeff.values[3] = axis_direction.x ();
* cylinder_coeff.values[4] = axis_direction.y ();
* cylinder_coeff.values[5] = axis_direction.z ();
*
* cylinder_coeff.values[6] = radius;
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::createCylinder (cylinder_coeff, numsides);
* \endcode
*
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCylinder (const temp_viz::ModelCoefficients &coefficients, int numsides = 30);
/** \brief Create a planar shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
*
* \code
* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)
* // Eigen::Vector4f plane_parameters;
*
* temp_viz::ModelCoefficients plane_coeff;
* plane_coeff.values.resize (4); // We need 4 values
* plane_coeff.values[0] = plane_parameters.x ();
* plane_coeff.values[1] = plane_parameters.y ();
* plane_coeff.values[2] = plane_parameters.z ();
* plane_coeff.values[3] = plane_parameters.w ();
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::createPlane (plane_coeff);
* \endcode
*
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const temp_viz::ModelCoefficients &coefficients);
/** \brief Create a planar shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
* \param[in] x,y,z projection of this point on the plane is used to get the center of the plane.
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z);
/** \brief Create a 2d circle shape from a set of model coefficients.
* \param[in] coefficients the model coefficients (x, y, radius)
* \param[in] z (optional) specify a z value (default: 0)
*
* \code
* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)
* // float x, y, radius;
*
* temp_viz::ModelCoefficients circle_coeff;
* circle_coeff.values.resize (3); // We need 3 values
* circle_coeff.values[0] = x;
* circle_coeff.values[1] = y;
* circle_coeff.values[2] = radius;
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::create2DCircle (circle_coeff, z);
* \endcode
*
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> create2DCircle (const temp_viz::ModelCoefficients &coefficients, double z = 0.0);
/** \brief Creaet a cube shape from a set of model coefficients.
* \param[in] coefficients the cube coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const temp_viz::ModelCoefficients &coefficients);
/** \brief Creaet a cube shape from a set of model coefficients.
*
* \param[in] translation a translation to apply to the cube from 0,0,0
* \param[in] rotation a quaternion-based rotation to apply to the cube
* \param[in] width the cube's width
* \param[in] height the cube's height
* \param[in] depth the cube's depth
* \ingroup visualization
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation, double width, double height, double depth);
/** \brief Create a cube from a set of bounding points
* \param[in] x_min is the minimum x value of the box
* \param[in] x_max is the maximum x value of the box
* \param[in] y_min is the minimum y value of the box
* \param[in] y_max is the maximum y value of the box
* \param[in] z_min is the minimum z value of the box
* \param[in] z_max is the maximum z value of the box
* \param[in] id the cube id/name (default: "cube")
* \param[in] viewport (optional) the id of the new viewport (default: 0)
*/
CV_EXPORTS vtkSmartPointer<vtkDataSet> createCube (double x_min, double x_max, double y_min, double y_max, double z_min, double z_max);
/** \brief Allocate a new unstructured grid smartpointer. For internal use only. /** \brief Allocate a new unstructured grid smartpointer. For internal use only.
* \param[out] polydata the resultant unstructured grid. * \param[out] polydata the resultant unstructured grid.
*/ */
......
modules/viz/src/q/viz3d_impl.hpp
View file @ 2229d91c
...@@ -137,13 +137,22 @@ public: ...@@ -137,13 +137,22 @@ public:
// This tends to close the window... // This tends to close the window...
interactor_->TerminateApp (); interactor_->TerminateApp ();
} }
void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color);
void showPlane (const String &id, const cv::Vec4f &coefs, const Color &color);
void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color);
void showCube (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
void showCylinder (const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color);
void showCircle (const String &id, const Point3f &pt, double radius, const Color &color);
void showSphere (const String &id, const Point3f &pt, double radius, const Color &color);
void showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
Affine3f getShapePose (const String &id);
bool setShapePose (const String &id, const Affine3f &pose);
bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon"); bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
bool addLine (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, const std::string &id = "line");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow"); bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color_line, const Color& color_text, const std::string &id = "arrow"); bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color_line, const Color& color_text, const std::string &id = "arrow");
bool addSphere (const cv::Point3f &center, float radius, const Color& color, const std::string &id = "sphere");
bool updateSphere (const cv::Point3f &center, float radius, const Color& color, const std::string &id = "sphere");
// Add a vtkPolydata as a mesh // Add a vtkPolydata as a mesh
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id = "PolyData"); bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id = "PolyData");
...@@ -151,104 +160,6 @@ public: ...@@ -151,104 +160,6 @@ public:
bool addModelFromPLYFile (const std::string &filename, const std::string &id = "PLYModel"); bool addModelFromPLYFile (const std::string &filename, const std::string &id = "PLYModel");
bool addModelFromPLYFile (const std::string &filename, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PLYModel"); bool addModelFromPLYFile (const std::string &filename, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PLYModel");
/** \brief Add a cylinder from a set of given model coefficients
* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
* \param[in] id the cylinder id/name (default: "cylinder")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelCylinder for more information.
* // float radius;
*
* temp_viz::ModelCoefficients cylinder_coeff;
* cylinder_coeff.values.resize (7); // We need 7 values
* cylinder_coeff.values[0] = pt_on_axis.x ();
* cylinder_coeff.values[1] = pt_on_axis.y ();
* cylinder_coeff.values[2] = pt_on_axis.z ();
*
* cylinder_coeff.values[3] = axis_direction.x ();
* cylinder_coeff.values[4] = axis_direction.y ();
* cylinder_coeff.values[5] = axis_direction.z ();
*
* cylinder_coeff.values[6] = radius;
*
* addCylinder (cylinder_coeff);
* \endcode
*/
bool addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cylinder");
/** \brief Add a plane from a set of given model coefficients
* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
* \param[in] id the plane id/name (default: "plane")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelPlane for more information
*
* temp_viz::ModelCoefficients plane_coeff;
* plane_coeff.values.resize (4); // We need 4 values
* plane_coeff.values[0] = plane_parameters.x ();
* plane_coeff.values[1] = plane_parameters.y ();
* plane_coeff.values[2] = plane_parameters.z ();
* plane_coeff.values[3] = plane_parameters.w ();
*
* addPlane (plane_coeff);
* \endcode
*/
bool addPlane (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "plane");
bool addPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z, const std::string &id = "plane");
/** \brief Add a circle from a set of given model coefficients
* \param[in] coefficients the model coefficients (x, y, radius)
* \param[in] id the circle id/name (default: "circle")
*
* \code
* // The following are given (or computed using sample consensus techniques)
* // See SampleConsensusModelCircle2D for more information
* // float x, y, radius;
*
* temp_viz::ModelCoefficients circle_coeff;
* circle_coeff.values.resize (3); // We need 3 values
* circle_coeff.values[0] = x;
* circle_coeff.values[1] = y;
* circle_coeff.values[2] = radius;
*
* vtkSmartPointer<vtkDataSet> data = temp_viz::create2DCircle (circle_coeff, z);
* \endcode
*/
bool addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "circle");
/** \brief Add a cube from a set of given model coefficients
* \param[in] coefficients the model coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (const temp_viz::ModelCoefficients &coefficients, const std::string &id = "cube");
/** \brief Add a cube from a set of given model coefficients
* \param[in] translation a translation to apply to the cube from 0,0,0
* \param[in] rotation a quaternion-based rotation to apply to the cube
* \param[in] width the cube's width
* \param[in] height the cube's height
* \param[in] depth the cube's depth
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (const cv::Vec3f& translation, const cv::Vec3f quaternion, double width, double height, double depth, const std::string &id = "cube");
/** \brief Add a cube
* \param[in] x_min the min X coordinate
* \param[in] x_max the max X coordinate
* \param[in] y_min the min Y coordinate
* \param[in] y_max the max Y coordinate
* \param[in] z_min the min Z coordinate
* \param[in] z_max the max Z coordinate
* \param[in] r how much red (0.0 -> 1.0)
* \param[in] g how much green (0.0 -> 1.0)
* \param[in] b how much blue (0.0 -> 1.0)
* \param[in] id the cube id/name (default: "cube")
*/
bool addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max, const Color& color, const std::string &id = "cube");
/** \brief Changes the visual representation for all actors to surface representation. */ /** \brief Changes the visual representation for all actors to surface representation. */
void setRepresentationToSurfaceForAllActors (); void setRepresentationToSurfaceForAllActors ();
...@@ -438,6 +349,7 @@ private: ...@@ -438,6 +349,7 @@ private:
//void convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix); //void convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
void convertToVtkMatrix (const cv::Matx44f& m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix); void convertToVtkMatrix (const cv::Matx44f& m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
void convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m);
/** \brief Convert origin and orientation to vtkMatrix4x4 /** \brief Convert origin and orientation to vtkMatrix4x4
* \param[in] origin the point cloud origin * \param[in] origin the point cloud origin
......
modules/viz/src/shapes.cpp
View file @ 2229d91c
This diff is collapsed.
modules/viz/src/viz3d.cpp
View file @ 2229d91c
...@@ -63,11 +63,6 @@ bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const Str ...@@ -63,11 +63,6 @@ bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const Str
return impl_->addPolygon(cloud, color, id); return impl_->addPolygon(cloud, color, id);
} }
bool temp_viz::Viz3d::addSphere (const cv::Point3f &center, double radius, const Color& color, const std::string &id)
{
return impl_->addSphere(center, radius, color, id);
}
void temp_viz::Viz3d::spin() void temp_viz::Viz3d::spin()
{ {
impl_->spin(); impl_->spin();
...@@ -78,14 +73,54 @@ void temp_viz::Viz3d::spinOnce (int time, bool force_redraw) ...@@ -78,14 +73,54 @@ void temp_viz::Viz3d::spinOnce (int time, bool force_redraw)
impl_->spinOnce(time, force_redraw); impl_->spinOnce(time, force_redraw);
} }
bool temp_viz::Viz3d::addPlane (const ModelCoefficients &coefficients, const String &id) void temp_viz::Viz3d::showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
{
impl_->showLine(id, pt1, pt2, color);
}
void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Color &color)
{
impl_->showPlane(id, coefs, color);
}
void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color)
{
impl_->showPlane(id, coefs, pt, color);
}
void temp_viz::Viz3d::showCube(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
{
impl_->showCube(id, pt1, pt2, color);
}
void temp_viz::Viz3d::showCylinder(const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color)
{
impl_->showCylinder(id, pt_on_axis, axis_direction, radius, num_sides, color);
}
void temp_viz::Viz3d::showCircle(const String &id, const Point3f &pt, double radius, const Color &color)
{
impl_->showCircle(id, pt, radius, color);
}
void temp_viz::Viz3d::showSphere (const String &id, const Point3f &pt, double radius, const Color &color)
{
impl_->showSphere(id, pt, radius, color);
}
void temp_viz::Viz3d::showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color)
{
impl_->showArrow(id,pt1,pt2,color);
}
cv::Affine3f temp_viz::Viz3d::getShapePose(const String &id)
{ {
return impl_->addPlane(coefficients, id); return impl_->getShapePose(id);
} }
bool temp_viz::Viz3d::addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String& id) bool temp_viz::Viz3d::setShapePose(const String &id, const Affine3f &pose)
{ {
return impl_->addPlane(coefficients, x, y, z, id); return impl_->setShapePose(id, pose);
} }
bool temp_viz::Viz3d::removeCoordinateSystem (const String &id) bool temp_viz::Viz3d::removeCoordinateSystem (const String &id)
......
modules/viz/src/viz3d_impl.cpp
View file @ 2229d91c
This diff is collapsed.
modules/viz/src/viz_main.cpp
View file @ 2229d91c
...@@ -894,111 +894,6 @@ void temp_viz::Viz3d::VizImpl::resetCameraViewpoint (const std::string &id) ...@@ -894,111 +894,6 @@ void temp_viz::Viz3d::VizImpl::resetCameraViewpoint (const std::string &id)
renderer_->Render (); renderer_->Render ();
} }
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCylinder (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCylinder] A shape with id <"<<id <<"> already exists! Please choose a different id and retry." << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = createCylinder (coefficients);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCube (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = createCube (coefficients);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCube (const cv::Vec3f& translation, const cv::Vec3f quaternion, double width, double height, double depth, const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl;
return (false);
}
Eigen::Vector3f t(translation[0], translation[1], translation[2]);
Eigen::Quaternionf q(quaternion[0], quaternion[1], quaternion[2], quaternion[3]);
vtkSmartPointer<vtkDataSet> data = createCube (t, q, width, height, depth);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCube (float x_min, float x_max, float y_min, float y_max, float z_min, float z_max,
const Color& color , const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
return std::cout << "[addCube] A shape with id <" << id << "> already exists! Please choose a different id and retry." << std::endl, false;
vtkSmartPointer<vtkDataSet> data = createCube (x_min, x_max, y_min, y_max, z_min, z_max);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
renderer_->AddActor (actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id) bool temp_viz::Viz3d::VizImpl::addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id)
{ {
...@@ -1088,87 +983,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename, ...@@ -1088,87 +983,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
return (true); return (true);
} }
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief Add a plane from a set of given model coefficients
* \param coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
* \param id the plane id/name (default: "plane")
* \param viewport (optional) the id of the new viewport (default: 0)
*/
bool temp_viz::Viz3d::VizImpl::addPlane (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addPlane] A shape with id <"<<id<<"> already exists! Please choose a different id and retry." << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = createPlane (coefficients);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
// actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetRepresentationToSurface ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor(actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
bool temp_viz::Viz3d::VizImpl::addPlane (const temp_viz::ModelCoefficients &coefficients, double x, double y, double z, const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addPlane] A shape with id <" << id << "> already exists! Please choose a different id and retry.\n" << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = createPlane (coefficients, x, y, z);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
renderer_->AddActor(actor);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addCircle (const temp_viz::ModelCoefficients &coefficients, const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
{
std::cout << "[addCircle] A shape with id <"<<id<<"> already exists! Please choose a different id and retry.\n" << std::endl;
return (false);
}
vtkSmartPointer<vtkDataSet> data = create2DCircle (coefficients);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
// Save the pointer/ID pair to the global actor map
(*shape_actor_map_)[id] = actor;
return (true);
}
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
bool temp_viz::Viz3d::VizImpl::addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id) bool temp_viz::Viz3d::VizImpl::addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
{ {
...@@ -1391,6 +1205,13 @@ void temp_viz::convertToVtkMatrix (const cv::Matx44f &m, vtkSmartPointer<vtkMatr ...@@ -1391,6 +1205,13 @@ void temp_viz::convertToVtkMatrix (const cv::Matx44f &m, vtkSmartPointer<vtkMatr
vtk_matrix->SetElement (i, k, m (i, k)); vtk_matrix->SetElement (i, k, m (i, k));
} }
void temp_viz::convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m)
{
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
m(i,k) = vtk_matrix->GetElement (i, k);
}
////////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////
void temp_viz::convertToEigenMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, Eigen::Matrix4f &m) void temp_viz::convertToEigenMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, Eigen::Matrix4f &m)
{ {
......
modules/viz/test/test_viz3d.cpp
View file @ 2229d91c
...@@ -41,9 +41,16 @@ ...@@ -41,9 +41,16 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include <opencv2/viz.hpp> #include <opencv2/viz.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <fstream>
#include <string>
#include <opencv2/viz/types.hpp> #include <opencv2/viz/types.hpp>
#include <opencv2/viz/mesh_load.hpp> #include <opencv2/viz/mesh_load.hpp>
cv::Mat cvcloud_load() cv::Mat cvcloud_load()
{ {
cv::Mat cloud(1, 20000, CV_32FC3); cv::Mat cloud(1, 20000, CV_32FC3);
...@@ -79,36 +86,43 @@ TEST(Viz_viz3d, accuracy) ...@@ -79,36 +86,43 @@ TEST(Viz_viz3d, accuracy)
float pos_x = 0.0f; float pos_x = 0.0f;
float pos_y = 0.0f; float pos_y = 0.0f;
float pos_z = 0.0f; float pos_z = 0.0f;
temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("d:/horse.ply"); // temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("d:/horse.ply");
v.addPolygonMesh(*mesh, "pq"); // v.addPolygonMesh(*mesh, "pq");
int col_blue = 0; int col_blue = 0;
int col_green = 0; int col_green = 0;
int col_red = 0; int col_red = 0;
v.showCircle("circle1", cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
v.showSphere("sphere1", cv::Point3f(0,0,0), 0.5, temp_viz::Color(0,0,255));
v.showArrow("arrow1", cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
bool alternate = true;
while(!v.wasStopped()) while(!v.wasStopped())
{ {
// Creating new point cloud with id cloud1 // Creating new point cloud with id cloud1
cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z)); cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
if (!alternate) // v.showPointCloud("cloud1", cloud, temp_viz::Color(col_blue, col_green, col_red), cloudPosition);
v.showPointCloud("cloud1", cloud, temp_viz::Color(255, 0, 0), cloudPosition); // v.showLine("line1", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
else // v.showLine("line2", cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0f-pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
v.showPointCloud("cloud1", cloud, colors, cloudPosition); // v.showLine("line3", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, 1.0f-pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
alternate = !alternate; // v.showLine("line4", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, 1.0f-pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
// v.showPlane("plane1", cv::Vec4f(pos_x*pos_y,pos_y,pos_z,pos_x+pos_y*pos_z), temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
// v.showCube("cube1", cv::Point3f(pos_x, pos_y, pos_z), cv::Point3f(pos_x+0.5, pos_y+0.5, pos_z+0.5), temp_viz::Color(255,150,50));
// v.showCylinder("cylinder1", cv::Point3f(0,0,0), cv::Point3f(pos_x, 1.0, 1.0), 0.5, 5*pos_x+3, temp_viz::Color(0,255,0));
v.setShapePose("circle1", cloudPosition);
v.setShapePose("sphere1", cloudPosition);
v.setShapePose("arrow1", cloudPosition);
angle_x += 0.1f; angle_x += 0.1f;
angle_y -= 0.1f; angle_y -= 0.1f;
angle_z += 0.1f; angle_z += 0.1f;
pos_x = std::sin(angle_x); pos_x = std::sin(angle_x);
pos_y = std::sin(angle_x); pos_y = std::sin(angle_y);
pos_z = std::sin(angle_x); pos_z = std::sin(angle_z);
col_blue = int(angle_x * 10) % 256; col_blue = int(angle_x * 10) % 256;
col_green = int(angle_x * 20) % 256; col_green = int(angle_x * 20) % 256;
col_red = int(angle_x * 30) % 256; col_red = int(angle_x * 30) % 256;
v.spinOnce(10, true); v.spinOnce(1, true);
} }
// cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0)); // cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
......
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