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submodule
opencv
Commits
9e3a2970
Commit
9e3a2970
authored
Nov 17, 2013
by
Anatoly Baksheev
Browse files
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Viz code beautification
parent
efcc3412
Hide whitespace changes
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Side-by-side
Showing
9 changed files
with
98 additions
and
207 deletions
+98
-207
viz.hpp
modules/viz/include/opencv2/viz.hpp
+1
-2
interactor_style.cpp
modules/viz/src/interactor_style.cpp
+41
-71
interactor_style.h
modules/viz/src/interactor_style.h
+5
-20
precomp.hpp
modules/viz/src/precomp.hpp
+1
-0
viz.cpp
modules/viz/src/viz.cpp
+38
-78
viz3d_impl.cpp
modules/viz/src/viz3d_impl.cpp
+4
-8
viz3d_impl.hpp
modules/viz/src/viz3d_impl.hpp
+2
-22
test_tutorial3.cpp
modules/viz/test/test_tutorial3.cpp
+2
-2
test_viz3d.cpp
modules/viz/test/test_viz3d.cpp
+4
-4
No files found.
modules/viz/include/opencv2/viz.hpp
View file @
9e3a2970
...
@@ -108,10 +108,9 @@ namespace cv
...
@@ -108,10 +108,9 @@ namespace cv
void
remove
(
const
String
&
window_name
);
void
remove
(
const
String
&
window_name
);
static
VizAccessor
*
instance_
;
static
VizAccessor
*
instance_
;
static
bool
is_instantiated_
;
struct
VizAccessorImpl
;
struct
VizAccessorImpl
;
static
VizAccessorImpl
*
impl_
;
VizAccessorImpl
*
impl_
;
friend
class
Viz3d
;
friend
class
Viz3d
;
};
};
...
...
modules/viz/src/interactor_style.cpp
View file @
9e3a2970
...
@@ -48,9 +48,6 @@
...
@@ -48,9 +48,6 @@
#include "precomp.hpp"
#include "precomp.hpp"
using
namespace
cv
;
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
void
cv
::
viz
::
InteractorStyle
::
Initialize
()
void
cv
::
viz
::
InteractorStyle
::
Initialize
()
{
{
...
@@ -78,11 +75,11 @@ void cv::viz::InteractorStyle::Initialize()
...
@@ -78,11 +75,11 @@ void cv::viz::InteractorStyle::Initialize()
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
void
cv
::
viz
::
InteractorStyle
::
saveScreenshot
(
const
std
::
s
tring
&
file
)
void
cv
::
viz
::
InteractorStyle
::
saveScreenshot
(
const
S
tring
&
file
)
{
{
FindPokedRenderer
(
Interactor
->
GetEventPosition
()[
0
],
Interactor
->
GetEventPosition
()[
1
]);
FindPokedRenderer
(
Interactor
->
GetEventPosition
()[
0
],
Interactor
->
GetEventPosition
()[
1
]);
wif_
->
SetInput
(
Interactor
->
GetRenderWindow
());
wif_
->
SetInput
(
Interactor
->
GetRenderWindow
());
wif_
->
Modified
();
// Update the WindowToImageFilter
wif_
->
Modified
();
// Update the WindowToImageFilter
snapshot_writer_
->
Modified
();
snapshot_writer_
->
Modified
();
snapshot_writer_
->
SetFileName
(
file
.
c_str
());
snapshot_writer_
->
SetFileName
(
file
.
c_str
());
snapshot_writer_
->
Write
();
snapshot_writer_
->
Write
();
...
@@ -117,30 +114,19 @@ void cv::viz::InteractorStyle::OnChar()
...
@@ -117,30 +114,19 @@ void cv::viz::InteractorStyle::OnChar()
FindPokedRenderer
(
Interactor
->
GetEventPosition
()[
0
],
Interactor
->
GetEventPosition
()[
1
]);
FindPokedRenderer
(
Interactor
->
GetEventPosition
()[
0
],
Interactor
->
GetEventPosition
()[
1
]);
if
(
Interactor
->
GetKeyCode
()
>=
'0'
&&
Interactor
->
GetKeyCode
()
<=
'9'
)
if
(
Interactor
->
GetKeyCode
()
>=
'0'
&&
Interactor
->
GetKeyCode
()
<=
'9'
)
return
;
return
;
std
::
string
key
(
Interactor
->
GetKeySym
());
if
(
key
.
find
(
"XF86ZoomIn"
)
!=
std
::
string
::
npos
)
String
key
(
Interactor
->
GetKeySym
());
if
(
key
.
find
(
"XF86ZoomIn"
)
!=
String
::
npos
)
zoomIn
();
zoomIn
();
else
if
(
key
.
find
(
"XF86ZoomOut"
)
!=
std
::
s
tring
::
npos
)
else
if
(
key
.
find
(
"XF86ZoomOut"
)
!=
S
tring
::
npos
)
zoomOut
();
zoomOut
();
int
keymod
=
false
;
int
keymod
=
false
;
switch
(
modifier_
)
switch
(
modifier_
)
{
{
case
KB_MOD_ALT
:
case
KB_MOD_ALT
:
keymod
=
Interactor
->
GetAltKey
();
break
;
{
case
KB_MOD_CTRL
:
keymod
=
Interactor
->
GetControlKey
();
break
;
keymod
=
Interactor
->
GetAltKey
();
case
KB_MOD_SHIFT
:
keymod
=
Interactor
->
GetShiftKey
();
break
;
break
;
}
case
KB_MOD_CTRL
:
{
keymod
=
Interactor
->
GetControlKey
();
break
;
}
case
KB_MOD_SHIFT
:
{
keymod
=
Interactor
->
GetShiftKey
();
break
;
}
}
}
switch
(
Interactor
->
GetKeyCode
())
switch
(
Interactor
->
GetKeyCode
())
...
@@ -202,7 +188,6 @@ bool cv::viz::InteractorStyle::getControlKey() { return Interactor->GetControlKe
...
@@ -202,7 +188,6 @@ bool cv::viz::InteractorStyle::getControlKey() { return Interactor->GetControlKe
void
void
cv
::
viz
::
InteractorStyle
::
OnKeyDown
()
cv
::
viz
::
InteractorStyle
::
OnKeyDown
()
{
{
CV_Assert
(
"Interactor style not initialized. Please call Initialize() before continuing"
&&
init_
);
CV_Assert
(
"Interactor style not initialized. Please call Initialize() before continuing"
&&
init_
);
CV_Assert
(
"No renderer given! Use SetRendererCollection() before continuing."
&&
renderer_
);
CV_Assert
(
"No renderer given! Use SetRendererCollection() before continuing."
&&
renderer_
);
...
@@ -274,42 +259,40 @@ cv::viz::InteractorStyle::OnKeyDown()
...
@@ -274,42 +259,40 @@ cv::viz::InteractorStyle::OnKeyDown()
vtkSmartPointer
<
vtkActorCollection
>
ac
=
CurrentRenderer
->
GetActors
();
vtkSmartPointer
<
vtkActorCollection
>
ac
=
CurrentRenderer
->
GetActors
();
vtkCollectionSimpleIterator
ait
;
vtkCollectionSimpleIterator
ait
;
for
(
ac
->
InitTraversal
(
ait
);
vtkActor
*
actor
=
ac
->
GetNextActor
(
ait
);
)
for
(
ac
->
InitTraversal
(
ait
);
vtkActor
*
actor
=
ac
->
GetNextActor
(
ait
);
)
{
for
(
actor
->
InitPathTraversal
();
vtkAssemblyPath
*
path
=
actor
->
GetNextPath
();
)
for
(
actor
->
InitPathTraversal
();
vtkAssemblyPath
*
path
=
actor
->
GetNextPath
();
)
{
{
vtkActor
*
apart
=
reinterpret_cast
<
vtkActor
*>
(
path
->
GetLastNode
()
->
GetViewProp
());
vtkActor
*
apart
=
reinterpret_cast
<
vtkActor
*>
(
path
->
GetLastNode
()
->
GetViewProp
());
apart
->
GetProperty
()
->
SetRepresentationToPoints
();
apart
->
GetProperty
()
->
SetRepresentationToPoints
();
}
}
}
break
;
break
;
}
}
// Save a PNG snapshot with the current screen
// Save a PNG snapshot with the current screen
case
'j'
:
case
'J'
:
case
'j'
:
case
'J'
:
{
{
char
cam_fn
[
80
],
snapshot_fn
[
80
];
unsigned
int
t
=
static_cast
<
unsigned
int
>
(
time
(
0
));
unsigned
t
=
static_cast
<
unsigned
>
(
time
(
0
));
String
png_file
=
cv
::
format
(
"screenshot-%d.png"
,
t
);
sprintf
(
snapshot_fn
,
"screenshot-%d.png"
,
t
);
String
cam_file
=
cv
::
format
(
"screenshot-%d.cam"
,
t
);
saveScreenshot
(
snapshot_fn
);
sprintf
(
cam_fn
,
"screenshot-%d.cam"
,
t
);
ofstream
ofs_cam
;
ofs_cam
.
open
(
cam_fn
);
vtkSmartPointer
<
vtkCamera
>
cam
=
Interactor
->
GetRenderWindow
()
->
GetRenderers
()
->
GetFirstRenderer
()
->
GetActiveCamera
();
vtkSmartPointer
<
vtkCamera
>
cam
=
Interactor
->
GetRenderWindow
()
->
GetRenderers
()
->
GetFirstRenderer
()
->
GetActiveCamera
();
double
clip
[
2
],
focal
[
3
],
pos
[
3
],
view
[
3
];
Vec2d
clip
;
cam
->
GetClippingRange
(
clip
);
Vec3d
focal
,
pos
,
view
;
cam
->
GetFocalPoint
(
focal
);
cam
->
GetClippingRange
(
clip
.
val
);
cam
->
GetPosition
(
pos
);
cam
->
GetFocalPoint
(
focal
.
val
);
cam
->
GetViewUp
(
view
);
cam
->
GetPosition
(
pos
.
val
);
cam
->
GetViewUp
(
view
.
val
);
int
*
win_pos
=
Interactor
->
GetRenderWindow
()
->
GetPosition
();
Vec2i
win_pos
(
Interactor
->
GetRenderWindow
()
->
GetPosition
());
int
*
win_size
=
Interactor
->
GetRenderWindow
()
->
GetSize
();
Vec2i
win_size
(
Interactor
->
GetRenderWindow
()
->
GetSize
());
ofs_cam
<<
clip
[
0
]
<<
","
<<
clip
[
1
]
<<
"/"
<<
focal
[
0
]
<<
","
<<
focal
[
1
]
<<
","
<<
focal
[
2
]
<<
"/"
<<
double
angle
=
cam
->
GetViewAngle
()
/
180.0
*
CV_PI
;
pos
[
0
]
<<
","
<<
pos
[
1
]
<<
","
<<
pos
[
2
]
<<
"/"
<<
view
[
0
]
<<
","
<<
view
[
1
]
<<
","
<<
view
[
2
]
<<
"/"
<<
cam
->
GetViewAngle
()
/
180.0
*
CV_PI
<<
"/"
<<
win_size
[
0
]
<<
","
<<
win_size
[
1
]
<<
"/"
<<
win_pos
[
0
]
<<
","
<<
win_pos
[
1
]
String
data
=
cv
::
format
(
"%f,%f/%f,%f,%f/%f,%f,%f/%f,%f,%f/%f/%d,%d/%d,%d"
,
clip
[
0
],
clip
[
1
],
focal
[
0
],
focal
[
1
],
focal
[
2
],
<<
endl
;
pos
[
0
],
pos
[
1
],
pos
[
2
],
view
[
0
],
view
[
1
],
view
[
2
],
angle
,
win_size
[
0
],
win_size
[
1
],
win_pos
[
0
],
win_pos
[
1
]);
saveScreenshot
(
png_file
);
ofstream
ofs_cam
(
cam_file
.
c_str
());
ofs_cam
<<
data
.
c_str
()
<<
endl
;
ofs_cam
.
close
();
ofs_cam
.
close
();
std
::
cout
<<
"Screenshot ("
<<
snapshot_fn
<<
") and camera information ("
<<
cam_fn
<<
") successfully captured."
<<
std
::
endl
;
cout
<<
"Screenshot ("
<<
png_file
.
c_str
()
<<
") and camera information ("
<<
cam_file
.
c_str
()
<<
") successfully captured."
<<
endl
;
break
;
break
;
}
}
// display current camera settings/parameters
// display current camera settings/parameters
...
@@ -354,7 +337,6 @@ cv::viz::InteractorStyle::OnKeyDown()
...
@@ -354,7 +337,6 @@ cv::viz::InteractorStyle::OnKeyDown()
vtkSmartPointer
<
vtkActorCollection
>
ac
=
CurrentRenderer
->
GetActors
();
vtkSmartPointer
<
vtkActorCollection
>
ac
=
CurrentRenderer
->
GetActors
();
vtkCollectionSimpleIterator
ait
;
vtkCollectionSimpleIterator
ait
;
for
(
ac
->
InitTraversal
(
ait
);
vtkActor
*
actor
=
ac
->
GetNextActor
(
ait
);
)
for
(
ac
->
InitTraversal
(
ait
);
vtkActor
*
actor
=
ac
->
GetNextActor
(
ait
);
)
{
for
(
actor
->
InitPathTraversal
();
vtkAssemblyPath
*
path
=
actor
->
GetNextPath
();
)
for
(
actor
->
InitPathTraversal
();
vtkAssemblyPath
*
path
=
actor
->
GetNextPath
();
)
{
{
vtkActor
*
apart
=
reinterpret_cast
<
vtkActor
*>
(
path
->
GetLastNode
()
->
GetViewProp
());
vtkActor
*
apart
=
reinterpret_cast
<
vtkActor
*>
(
path
->
GetLastNode
()
->
GetViewProp
());
...
@@ -362,7 +344,6 @@ cv::viz::InteractorStyle::OnKeyDown()
...
@@ -362,7 +344,6 @@ cv::viz::InteractorStyle::OnKeyDown()
if
(
psize
<
63.0
f
)
if
(
psize
<
63.0
f
)
apart
->
GetProperty
()
->
SetPointSize
(
psize
+
1.0
f
);
apart
->
GetProperty
()
->
SetPointSize
(
psize
+
1.0
f
);
}
}
}
}
}
break
;
break
;
}
}
...
@@ -375,7 +356,6 @@ cv::viz::InteractorStyle::OnKeyDown()
...
@@ -375,7 +356,6 @@ cv::viz::InteractorStyle::OnKeyDown()
vtkSmartPointer
<
vtkActorCollection
>
ac
=
CurrentRenderer
->
GetActors
();
vtkSmartPointer
<
vtkActorCollection
>
ac
=
CurrentRenderer
->
GetActors
();
vtkCollectionSimpleIterator
ait
;
vtkCollectionSimpleIterator
ait
;
for
(
ac
->
InitTraversal
(
ait
);
vtkActor
*
actor
=
ac
->
GetNextActor
(
ait
);
)
for
(
ac
->
InitTraversal
(
ait
);
vtkActor
*
actor
=
ac
->
GetNextActor
(
ait
);
)
{
for
(
actor
->
InitPathTraversal
();
vtkAssemblyPath
*
path
=
actor
->
GetNextPath
();
)
for
(
actor
->
InitPathTraversal
();
vtkAssemblyPath
*
path
=
actor
->
GetNextPath
();
)
{
{
vtkActor
*
apart
=
static_cast
<
vtkActor
*>
(
path
->
GetLastNode
()
->
GetViewProp
());
vtkActor
*
apart
=
static_cast
<
vtkActor
*>
(
path
->
GetLastNode
()
->
GetViewProp
());
...
@@ -383,7 +363,6 @@ cv::viz::InteractorStyle::OnKeyDown()
...
@@ -383,7 +363,6 @@ cv::viz::InteractorStyle::OnKeyDown()
if
(
psize
>
1.0
f
)
if
(
psize
>
1.0
f
)
apart
->
GetProperty
()
->
SetPointSize
(
psize
-
1.0
f
);
apart
->
GetProperty
()
->
SetPointSize
(
psize
-
1.0
f
);
}
}
}
}
}
break
;
break
;
}
}
...
@@ -460,9 +439,7 @@ cv::viz::InteractorStyle::OnKeyDown()
...
@@ -460,9 +439,7 @@ cv::viz::InteractorStyle::OnKeyDown()
case
'o'
:
case
'O'
:
case
'o'
:
case
'O'
:
{
{
vtkSmartPointer
<
vtkCamera
>
cam
=
CurrentRenderer
->
GetActiveCamera
();
vtkSmartPointer
<
vtkCamera
>
cam
=
CurrentRenderer
->
GetActiveCamera
();
int
flag
=
cam
->
GetParallelProjection
();
cam
->
SetParallelProjection
(
!
cam
->
GetParallelProjection
());
cam
->
SetParallelProjection
(
!
flag
);
CurrentRenderer
->
SetActiveCamera
(
cam
);
CurrentRenderer
->
SetActiveCamera
(
cam
);
CurrentRenderer
->
Render
();
CurrentRenderer
->
Render
();
break
;
break
;
...
@@ -499,18 +476,14 @@ cv::viz::InteractorStyle::OnKeyDown()
...
@@ -499,18 +476,14 @@ cv::viz::InteractorStyle::OnKeyDown()
// if a valid transformation was found, use it otherwise fall back to default view point.
// if a valid transformation was found, use it otherwise fall back to default view point.
if
(
found_transformation
)
if
(
found_transformation
)
{
{
vtkProp3D
*
actor
=
vtkProp3D
::
SafeDownCast
(
it
->
second
);
const
vtkMatrix4x4
*
m
=
vtkProp3D
::
SafeDownCast
(
it
->
second
)
->
GetUserMatrix
();
cam
->
SetPosition
(
actor
->
GetUserMatrix
()
->
GetElement
(
0
,
3
),
actor
->
GetUserMatrix
()
->
GetElement
(
1
,
3
),
actor
->
GetUserMatrix
()
->
GetElement
(
2
,
3
));
cam
->
SetFocalPoint
(
actor
->
GetUserMatrix
()
->
GetElement
(
0
,
3
)
-
actor
->
GetUserMatrix
()
->
GetElement
(
0
,
2
),
cam
->
SetFocalPoint
(
m
->
GetElement
(
0
,
3
)
-
m
->
GetElement
(
0
,
2
),
actor
->
GetUserMatrix
()
->
GetElement
(
1
,
3
)
-
actor
->
GetUserMatrix
()
->
GetElement
(
1
,
2
),
m
->
GetElement
(
1
,
3
)
-
m
->
GetElement
(
1
,
2
),
actor
->
GetUserMatrix
()
->
GetElement
(
2
,
3
)
-
actor
->
GetUserMatrix
()
->
GetElement
(
2
,
2
));
m
->
GetElement
(
2
,
3
)
-
m
->
GetElement
(
2
,
2
));
cam
->
SetViewUp
(
actor
->
GetUserMatrix
()
->
GetElement
(
0
,
1
),
cam
->
SetViewUp
(
m
->
GetElement
(
0
,
1
),
m
->
GetElement
(
1
,
1
),
m
->
GetElement
(
2
,
1
));
actor
->
GetUserMatrix
()
->
GetElement
(
1
,
1
),
cam
->
SetPosition
(
m
->
GetElement
(
0
,
3
),
m
->
GetElement
(
1
,
3
),
m
->
GetElement
(
2
,
3
));
actor
->
GetUserMatrix
()
->
GetElement
(
2
,
1
));
}
}
else
else
{
{
...
@@ -712,11 +685,8 @@ void cv::viz::InteractorStyle::OnTimer()
...
@@ -712,11 +685,8 @@ void cv::viz::InteractorStyle::OnTimer()
Interactor
->
Render
();
Interactor
->
Render
();
}
}
namespace
cv
namespace
cv
{
namespace
viz
{
{
namespace
viz
//Standard VTK macro for *New()
{
vtkStandardNewMacro
(
InteractorStyle
)
//Standard VTK macro for *New()
}}
vtkStandardNewMacro
(
InteractorStyle
)
}
}
modules/viz/src/interactor_style.h
View file @
9e3a2970
...
@@ -57,16 +57,9 @@ namespace cv
...
@@ -57,16 +57,9 @@ namespace cv
{
{
public
:
public
:
enum
KeyboardModifier
enum
KeyboardModifier
{
KB_MOD_ALT
,
KB_MOD_CTRL
,
KB_MOD_SHIFT
};
{
KB_MOD_ALT
,
KB_MOD_CTRL
,
KB_MOD_SHIFT
};
static
InteractorStyle
*
New
();
static
InteractorStyle
*
New
();
InteractorStyle
()
{}
virtual
~
InteractorStyle
()
{}
virtual
~
InteractorStyle
()
{}
// this macro defines Superclass, the isA functionality and the safe downcast method
// this macro defines Superclass, the isA functionality and the safe downcast method
...
@@ -75,32 +68,24 @@ namespace cv
...
@@ -75,32 +68,24 @@ namespace cv
/** \brief Initialization routine. Must be called before anything else. */
/** \brief Initialization routine. Must be called before anything else. */
virtual
void
Initialize
();
virtual
void
Initialize
();
inline
void
setWidgetActorMap
(
const
Ptr
<
WidgetActorMap
>&
actors
)
{
widget_actor_map_
=
actors
;
}
void
setWidgetActorMap
(
const
Ptr
<
WidgetActorMap
>&
actors
)
{
widget_actor_map_
=
actors
;
}
void
setRenderer
(
vtkSmartPointer
<
vtkRenderer
>&
ren
)
{
renderer_
=
ren
;
}
void
setRenderer
(
vtkSmartPointer
<
vtkRenderer
>&
ren
)
{
renderer_
=
ren
;
}
void
registerMouseCallback
(
void
(
*
callback
)(
const
MouseEvent
&
,
void
*
),
void
*
cookie
=
0
);
void
registerMouseCallback
(
void
(
*
callback
)(
const
MouseEvent
&
,
void
*
),
void
*
cookie
=
0
);
void
registerKeyboardCallback
(
void
(
*
callback
)(
const
KeyboardEvent
&
,
void
*
),
void
*
cookie
=
0
);
void
registerKeyboardCallback
(
void
(
*
callback
)(
const
KeyboardEvent
&
,
void
*
),
void
*
cookie
=
0
);
void
saveScreenshot
(
const
std
::
s
tring
&
file
);
void
saveScreenshot
(
const
S
tring
&
file
);
/** \brief Change the default keyboard modified from ALT to a different special key.*/
/** \brief Change the default keyboard modified from ALT to a different special key.*/
inline
void
setKeyboardModifier
(
const
KeyboardModifier
&
modifier
)
{
modifier_
=
modifier
;
}
inline
void
setKeyboardModifier
(
const
KeyboardModifier
&
modifier
)
{
modifier_
=
modifier
;
}
pr
otected
:
pr
ivate
:
/** \brief Set to true after initialization is complete. */
/** \brief Set to true after initialization is complete. */
bool
init_
;
bool
init_
;
/** \brief Collection of vtkRenderers stored internally. */
vtkSmartPointer
<
vtkRenderer
>
renderer_
;
vtkSmartPointer
<
vtkRenderer
>
renderer_
;
Ptr
<
WidgetActorMap
>
widget_actor_map_
;
/** \brief Actor map stored internally. */
cv
::
Ptr
<
WidgetActorMap
>
widget_actor_map_
;
/** \brief The current window width/height. */
Vec2i
win_size_
;
Vec2i
win_size_
;
/** \brief The current window position x/y. */
Vec2i
win_pos_
;
Vec2i
win_pos_
;
/** \brief The maximum resizeable window width/height. */
Vec2i
max_win_size_
;
Vec2i
max_win_size_
;
/** \brief A PNG writer for screenshot captures. */
/** \brief A PNG writer for screenshot captures. */
...
...
modules/viz/src/precomp.hpp
View file @
9e3a2970
...
@@ -128,6 +128,7 @@
...
@@ -128,6 +128,7 @@
#include <opencv2/core.hpp>
#include <opencv2/core.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/viz/widget_accessor.hpp>
#include <opencv2/viz/widget_accessor.hpp>
#include <opencv2/core/utility.hpp>
namespace
cv
namespace
cv
{
{
...
...
modules/viz/src/viz.cpp
View file @
9e3a2970
...
@@ -50,18 +50,9 @@
...
@@ -50,18 +50,9 @@
cv
::
Affine3f
cv
::
viz
::
makeTransformToGlobal
(
const
Vec3f
&
axis_x
,
const
Vec3f
&
axis_y
,
const
Vec3f
&
axis_z
,
const
Vec3f
&
origin
)
cv
::
Affine3f
cv
::
viz
::
makeTransformToGlobal
(
const
Vec3f
&
axis_x
,
const
Vec3f
&
axis_y
,
const
Vec3f
&
axis_z
,
const
Vec3f
&
origin
)
{
{
Affine3f
::
Mat3
R
;
Affine3f
::
Mat3
R
(
axis_x
[
0
],
axis_y
[
0
],
axis_z
[
0
],
R
.
val
[
0
]
=
axis_x
.
val
[
0
];
axis_x
[
1
],
axis_y
[
1
],
axis_z
[
1
],
R
.
val
[
3
]
=
axis_x
.
val
[
1
];
axis_x
[
2
],
axis_y
[
2
],
axis_z
[
2
]);
R
.
val
[
6
]
=
axis_x
.
val
[
2
];
R
.
val
[
1
]
=
axis_y
.
val
[
0
];
R
.
val
[
4
]
=
axis_y
.
val
[
1
];
R
.
val
[
7
]
=
axis_y
.
val
[
2
];
R
.
val
[
2
]
=
axis_z
.
val
[
0
];
R
.
val
[
5
]
=
axis_z
.
val
[
1
];
R
.
val
[
8
]
=
axis_z
.
val
[
2
];
return
Affine3f
(
R
,
origin
);
return
Affine3f
(
R
,
origin
);
}
}
...
@@ -73,22 +64,7 @@ cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_p
...
@@ -73,22 +64,7 @@ cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_p
Vec3f
u
=
normalize
(
y_dir
.
cross
(
n
));
Vec3f
u
=
normalize
(
y_dir
.
cross
(
n
));
Vec3f
v
=
n
.
cross
(
u
);
Vec3f
v
=
n
.
cross
(
u
);
Matx44f
pose_mat
=
Matx44f
::
zeros
();
return
makeTransformToGlobal
(
u
,
v
,
n
,
position
);
pose_mat
(
0
,
0
)
=
u
[
0
];
pose_mat
(
0
,
1
)
=
u
[
1
];
pose_mat
(
0
,
2
)
=
u
[
2
];
pose_mat
(
1
,
0
)
=
v
[
0
];
pose_mat
(
1
,
1
)
=
v
[
1
];
pose_mat
(
1
,
2
)
=
v
[
2
];
pose_mat
(
2
,
0
)
=
n
[
0
];
pose_mat
(
2
,
1
)
=
n
[
1
];
pose_mat
(
2
,
2
)
=
n
[
2
];
pose_mat
(
3
,
0
)
=
position
[
0
];
pose_mat
(
3
,
1
)
=
position
[
1
];
pose_mat
(
3
,
2
)
=
position
[
2
];
pose_mat
(
3
,
3
)
=
1.0
f
;
pose_mat
=
pose_mat
.
t
();
return
pose_mat
;
}
}
vtkSmartPointer
<
vtkMatrix4x4
>
cv
::
viz
::
convertToVtkMatrix
(
const
cv
::
Matx44f
&
m
)
vtkSmartPointer
<
vtkMatrix4x4
>
cv
::
viz
::
convertToVtkMatrix
(
const
cv
::
Matx44f
&
m
)
...
@@ -109,36 +85,31 @@ cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matr
...
@@ -109,36 +85,31 @@ cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matr
return
m
;
return
m
;
}
}
namespace
cv
namespace
cv
{
namespace
viz
{
{
namespace
viz
template
<
typename
_Tp
>
Vec
<
_Tp
,
3
>*
vtkpoints_data
(
vtkSmartPointer
<
vtkPoints
>&
points
);
template
<>
Vec3f
*
vtkpoints_data
<
float
>
(
vtkSmartPointer
<
vtkPoints
>&
points
)
{
{
template
<
typename
_Tp
>
Vec
<
_Tp
,
3
>*
vtkpoints_data
(
vtkSmartPointer
<
vtkPoints
>&
points
);
CV_Assert
(
points
->
GetDataType
()
==
VTK_FLOAT
);
vtkDataArray
*
data
=
points
->
GetData
();
template
<>
Vec3f
*
vtkpoints_data
<
float
>
(
vtkSmartPointer
<
vtkPoints
>&
points
)
float
*
pointer
=
static_cast
<
vtkFloatArray
*>
(
data
)
->
GetPointer
(
0
);
{
return
reinterpret_cast
<
Vec3f
*>
(
pointer
);
CV_Assert
(
points
->
GetDataType
()
==
VTK_FLOAT
);
vtkDataArray
*
data
=
points
->
GetData
();
float
*
pointer
=
static_cast
<
vtkFloatArray
*>
(
data
)
->
GetPointer
(
0
);
return
reinterpret_cast
<
Vec3f
*>
(
pointer
);
}
template
<>
Vec3d
*
vtkpoints_data
<
double
>
(
vtkSmartPointer
<
vtkPoints
>&
points
)
{
CV_Assert
(
points
->
GetDataType
()
==
VTK_DOUBLE
);
vtkDataArray
*
data
=
points
->
GetData
();
double
*
pointer
=
static_cast
<
vtkDoubleArray
*>
(
data
)
->
GetPointer
(
0
);
return
reinterpret_cast
<
Vec3d
*>
(
pointer
);
}
}
}
}
template
<>
Vec3d
*
vtkpoints_data
<
double
>
(
vtkSmartPointer
<
vtkPoints
>&
points
)
{
CV_Assert
(
points
->
GetDataType
()
==
VTK_DOUBLE
);
vtkDataArray
*
data
=
points
->
GetData
();
double
*
pointer
=
static_cast
<
vtkDoubleArray
*>
(
data
)
->
GetPointer
(
0
);
return
reinterpret_cast
<
Vec3d
*>
(
pointer
);
}
}}
///////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////
/// Viz accessor implementation
/// Viz accessor implementation
cv
::
viz
::
VizAccessor
*
cv
::
viz
::
VizAccessor
::
instance_
=
0
;
cv
::
viz
::
VizAccessor
*
cv
::
viz
::
VizAccessor
::
instance_
=
0
;
bool
cv
::
viz
::
VizAccessor
::
is_instantiated_
=
false
;
cv
::
viz
::
VizAccessor
::
VizAccessorImpl
*
cv
::
viz
::
VizAccessor
::
impl_
=
0
;
struct
cv
::
viz
::
VizAccessor
::
VizAccessorImpl
struct
cv
::
viz
::
VizAccessor
::
VizAccessorImpl
{
{
...
@@ -146,33 +117,22 @@ struct cv::viz::VizAccessor::VizAccessorImpl
...
@@ -146,33 +117,22 @@ struct cv::viz::VizAccessor::VizAccessorImpl
};
};
cv
::
viz
::
VizAccessor
::
VizAccessor
()
{
impl_
=
new
cv
::
viz
::
VizAccessor
::
VizAccessorImpl
;}
cv
::
viz
::
VizAccessor
::
VizAccessor
()
{
impl_
=
new
cv
::
viz
::
VizAccessor
::
VizAccessorImpl
;}
cv
::
viz
::
VizAccessor
::~
VizAccessor
()
{
delete
impl_
;
}
cv
::
viz
::
VizAccessor
::~
VizAccessor
()
{
if
(
impl_
)
{
delete
impl_
;
impl_
=
0
;
}
}
cv
::
viz
::
VizAccessor
&
cv
::
viz
::
VizAccessor
::
getInstance
()
cv
::
viz
::
VizAccessor
&
cv
::
viz
::
VizAccessor
::
getInstance
()
{
{
if
(
!
is_instantiated_
)
if
(
!
instance_
)
{
instance_
=
new
VizAccessor
();
instance_
=
new
VizAccessor
();
is_instantiated_
=
true
;
}
return
*
instance_
;
return
*
instance_
;
}
}
void
cv
::
viz
::
VizAccessor
::
release
()
void
cv
::
viz
::
VizAccessor
::
release
()
{
{
if
(
i
s_instantiated
_
)
if
(
i
nstance
_
)
{
{
delete
instance_
;
delete
instance_
;
instance_
=
0
;
instance_
=
0
;
is_instantiated_
=
false
;
}
}
}
}
...
@@ -183,18 +143,15 @@ cv::viz::Viz3d cv::viz::VizAccessor::get(const String & window_name)
...
@@ -183,18 +143,15 @@ cv::viz::Viz3d cv::viz::VizAccessor::get(const String & window_name)
generateWindowName
(
window_name
,
name
);
generateWindowName
(
window_name
,
name
);
VizMap
::
iterator
vm_itr
=
impl_
->
viz_map
.
find
(
name
);
VizMap
::
iterator
vm_itr
=
impl_
->
viz_map
.
find
(
name
);
bool
exists
=
vm_itr
!=
impl_
->
viz_map
.
end
();
return
vm_itr
!=
impl_
->
viz_map
.
end
()
?
vm_itr
->
second
:
Viz3d
(
window_name
);
if
(
exists
)
return
vm_itr
->
second
;
else
return
Viz3d
(
window_name
);
}
}
void
cv
::
viz
::
VizAccessor
::
add
(
Viz3d
window
)
void
cv
::
viz
::
VizAccessor
::
add
(
Viz3d
window
)
{
{
String
window_name
=
window
.
getWindowName
();
String
window_name
=
window
.
getWindowName
();
VizMap
::
iterator
vm_itr
=
impl_
->
viz_map
.
find
(
window_name
);
VizMap
::
iterator
vm_itr
=
impl_
->
viz_map
.
find
(
window_name
);
bool
exists
=
vm_itr
!=
impl_
->
viz_map
.
end
();
if
(
vm_itr
==
impl_
->
viz_map
.
end
())
if
(
exists
)
return
;
impl_
->
viz_map
.
insert
(
VizPair
(
window_name
,
window
));
impl_
->
viz_map
.
insert
(
VizPair
(
window_name
,
window
));
}
}
void
cv
::
viz
::
VizAccessor
::
remove
(
const
String
&
window_name
)
void
cv
::
viz
::
VizAccessor
::
remove
(
const
String
&
window_name
)
...
@@ -204,21 +161,24 @@ void cv::viz::VizAccessor::remove(const String &window_name)
...
@@ -204,21 +161,24 @@ void cv::viz::VizAccessor::remove(const String &window_name)
generateWindowName
(
window_name
,
name
);
generateWindowName
(
window_name
,
name
);
VizMap
::
iterator
vm_itr
=
impl_
->
viz_map
.
find
(
name
);
VizMap
::
iterator
vm_itr
=
impl_
->
viz_map
.
find
(
name
);
bool
exists
=
vm_itr
!=
impl_
->
viz_map
.
end
();
if
(
vm_itr
!=
impl_
->
viz_map
.
end
())
if
(
!
exists
)
return
;
impl_
->
viz_map
.
erase
(
vm_itr
);
impl_
->
viz_map
.
erase
(
vm_itr
);
}
}
void
cv
::
viz
::
VizAccessor
::
generateWindowName
(
const
String
&
window_name
,
String
&
output
)
void
cv
::
viz
::
VizAccessor
::
generateWindowName
(
const
String
&
window_name
,
String
&
output
)
{
{
output
=
"Viz"
;
output
=
"Viz"
;
// Already is Viz
// Already is Viz
if
(
window_name
==
output
)
return
;
if
(
window_name
==
output
)
return
;
String
prefixed
=
output
+
" - "
;
String
prefixed
=
output
+
" - "
;
if
(
window_name
.
substr
(
0
,
prefixed
.
length
())
==
prefixed
)
output
=
window_name
;
// Already has "Viz - "
if
(
window_name
.
substr
(
0
,
prefixed
.
length
())
==
prefixed
)
else
if
(
window_name
.
substr
(
0
,
output
.
length
())
==
output
)
output
=
prefixed
+
window_name
;
// Doesn't have prefix
output
=
window_name
;
// Already has "Viz - "
else
output
=
(
window_name
==
""
?
output
:
prefixed
+
window_name
);
else
if
(
window_name
.
substr
(
0
,
output
.
length
())
==
output
)
output
=
prefixed
+
window_name
;
// Doesn't have prefix
else
output
=
(
window_name
==
""
?
output
:
prefixed
+
window_name
);
}
}
cv
::
viz
::
Viz3d
cv
::
viz
::
get
(
const
String
&
window_name
)
cv
::
viz
::
Viz3d
cv
::
viz
::
get
(
const
String
&
window_name
)
...
...
modules/viz/src/viz3d_impl.cpp
View file @
9e3a2970
...
@@ -47,9 +47,6 @@
...
@@ -47,9 +47,6 @@
//M*/
//M*/
#include "precomp.hpp"
#include "precomp.hpp"
#include "opencv2/core/utility.hpp"
#include <vtkRenderWindowInteractor.h>
#if 1 || !defined __APPLE__
#if 1 || !defined __APPLE__
vtkRenderWindowInteractor
*
vtkRenderWindowInteractorFixNew
()
vtkRenderWindowInteractor
*
vtkRenderWindowInteractorFixNew
()
...
@@ -60,9 +57,7 @@ vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew()
...
@@ -60,9 +57,7 @@ vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew()
/////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////
cv
::
viz
::
Viz3d
::
VizImpl
::
VizImpl
(
const
String
&
name
)
cv
::
viz
::
Viz3d
::
VizImpl
::
VizImpl
(
const
String
&
name
)
:
style_
(
vtkSmartPointer
<
cv
::
viz
::
InteractorStyle
>::
New
())
:
style_
(
vtkSmartPointer
<
cv
::
viz
::
InteractorStyle
>::
New
())
,
widget_actor_map_
(
new
WidgetActorMap
),
s_lastDone_
(
0.0
)
,
widget_actor_map_
(
new
WidgetActorMap
)
,
s_lastDone_
(
0.0
)
{
{
renderer_
=
vtkSmartPointer
<
vtkRenderer
>::
New
();
renderer_
=
vtkSmartPointer
<
vtkRenderer
>::
New
();
...
@@ -127,7 +122,8 @@ cv::viz::Viz3d::VizImpl::~VizImpl()
...
@@ -127,7 +122,8 @@ cv::viz::Viz3d::VizImpl::~VizImpl()
{
{
if
(
interactor_
)
if
(
interactor_
)
interactor_
->
DestroyTimer
(
timer_id_
);
interactor_
->
DestroyTimer
(
timer_id_
);
if
(
renderer_
)
renderer_
->
Clear
();
if
(
renderer_
)
renderer_
->
Clear
();
}
}
/////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////
...
@@ -394,7 +390,7 @@ cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
...
@@ -394,7 +390,7 @@ cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
Size
window_size
(
renderer_
->
GetRenderWindow
()
->
GetSize
()[
0
],
Size
window_size
(
renderer_
->
GetRenderWindow
()
->
GetSize
()[
0
],
renderer_
->
GetRenderWindow
()
->
GetSize
()[
1
]);
renderer_
->
GetRenderWindow
()
->
GetSize
()[
1
]);
double
aspect_ratio
=
static_cast
<
double
>
(
window_size
.
width
)
/
static_cast
<
double
>
(
window_size
.
height
)
;
double
aspect_ratio
=
window_size
.
width
/
(
double
)
window_size
.
height
;
Matx44f
proj_matrix
=
convertToMatx
(
active_camera
.
GetProjectionTransformMatrix
(
aspect_ratio
,
-
1.0
f
,
1.0
f
));
Matx44f
proj_matrix
=
convertToMatx
(
active_camera
.
GetProjectionTransformMatrix
(
aspect_ratio
,
-
1.0
f
,
1.0
f
));
Camera
camera
(
proj_matrix
,
window_size
);
Camera
camera
(
proj_matrix
,
window_size
);
...
...
modules/viz/src/viz3d_impl.hpp
View file @
9e3a2970
...
@@ -124,10 +124,7 @@ private:
...
@@ -124,10 +124,7 @@ private:
struct
ExitMainLoopTimerCallback
:
public
vtkCommand
struct
ExitMainLoopTimerCallback
:
public
vtkCommand
{
{
static
ExitMainLoopTimerCallback
*
New
()
static
ExitMainLoopTimerCallback
*
New
()
{
return
new
ExitMainLoopTimerCallback
;
}
{
return
new
ExitMainLoopTimerCallback
;
}
virtual
void
Execute
(
vtkObject
*
vtkNotUsed
(
caller
),
unsigned
long
event_id
,
void
*
call_data
)
virtual
void
Execute
(
vtkObject
*
vtkNotUsed
(
caller
),
unsigned
long
event_id
,
void
*
call_data
)
{
{
if
(
event_id
!=
vtkCommand
::
TimerEvent
)
if
(
event_id
!=
vtkCommand
::
TimerEvent
)
...
@@ -146,10 +143,7 @@ private:
...
@@ -146,10 +143,7 @@ private:
struct
ExitCallback
:
public
vtkCommand
struct
ExitCallback
:
public
vtkCommand
{
{
static
ExitCallback
*
New
()
static
ExitCallback
*
New
()
{
return
new
ExitCallback
;
}
{
return
new
ExitCallback
;
}
virtual
void
Execute
(
vtkObject
*
,
unsigned
long
event_id
,
void
*
)
virtual
void
Execute
(
vtkObject
*
,
unsigned
long
event_id
,
void
*
)
{
{
if
(
event_id
==
vtkCommand
::
ExitEvent
)
if
(
event_id
==
vtkCommand
::
ExitEvent
)
...
@@ -188,21 +182,7 @@ private:
...
@@ -188,21 +182,7 @@ private:
bool
removeActorFromRenderer
(
const
vtkSmartPointer
<
vtkProp
>
&
actor
);
bool
removeActorFromRenderer
(
const
vtkSmartPointer
<
vtkProp
>
&
actor
);
/** \brief Internal method. Creates a vtk actor from a vtk polydata object.
* \param[in] data the vtk polydata object to create an actor for
* \param[out] actor the resultant vtk actor object
* \param[in] use_scalars set scalar properties to the mapper if it exists in the data. Default: true.
*/
void
createActorFromVTKDataSet
(
const
vtkSmartPointer
<
vtkDataSet
>
&
data
,
vtkSmartPointer
<
vtkLODActor
>
&
actor
,
bool
use_scalars
=
true
);
void
createActorFromVTKDataSet
(
const
vtkSmartPointer
<
vtkDataSet
>
&
data
,
vtkSmartPointer
<
vtkLODActor
>
&
actor
,
bool
use_scalars
=
true
);
/** \brief Updates a set of cells (vtkIdTypeArray) if the number of points in a cloud changes
* \param[out] cells the vtkIdTypeArray object (set of cells) to update
* \param[out] initcells a previously saved set of cells. If the number of points in the current cloud is
* higher than the number of cells in \a cells, and initcells contains enough data, then a copy from it
* will be made instead of regenerating the entire array.
* \param[in] nr_points the number of points in the new cloud. This dictates how many cells we need to
* generate
*/
void
updateCells
(
vtkSmartPointer
<
vtkIdTypeArray
>
&
cells
,
vtkSmartPointer
<
vtkIdTypeArray
>
&
initcells
,
vtkIdType
nr_points
);
void
updateCells
(
vtkSmartPointer
<
vtkIdTypeArray
>
&
cells
,
vtkSmartPointer
<
vtkIdTypeArray
>
&
initcells
,
vtkIdType
nr_points
);
};
};
...
...
modules/viz/test/test_tutorial3.cpp
View file @
9e3a2970
...
@@ -75,12 +75,12 @@ void tutorial3(bool camera_pov)
...
@@ -75,12 +75,12 @@ void tutorial3(bool camera_pov)
myWindow
.
spin
();
myWindow
.
spin
();
}
}
TEST
(
Viz_viz3d
,
tutorial3_global_view
)
TEST
(
Viz_viz3d
,
DISABLED_
tutorial3_global_view
)
{
{
tutorial3
(
false
);
tutorial3
(
false
);
}
}
TEST
(
Viz_viz3d
,
tutorial3_camera_view
)
TEST
(
Viz_viz3d
,
DISABLED_
tutorial3_camera_view
)
{
{
tutorial3
(
true
);
tutorial3
(
true
);
}
}
modules/viz/test/test_viz3d.cpp
View file @
9e3a2970
...
@@ -96,18 +96,18 @@ TEST(Viz_viz3d, develop)
...
@@ -96,18 +96,18 @@ TEST(Viz_viz3d, develop)
cv
::
viz
::
WMesh
bunny_widget
(
bunny_mesh
);
cv
::
viz
::
WMesh
bunny_widget
(
bunny_mesh
);
bunny_widget
.
setColor
(
cv
::
viz
::
Color
::
cyan
());
bunny_widget
.
setColor
(
cv
::
viz
::
Color
::
cyan
());
cam_1
=
cv
::
viz
::
WCameraPosition
(
cv
::
Vec2f
(
0.6
,
0.4
),
0.2
,
cv
::
viz
::
Color
::
green
());
cam_1
=
cv
::
viz
::
WCameraPosition
(
cv
::
Vec2f
(
0.6
f
,
0.4
f
),
0.2
,
cv
::
viz
::
Color
::
green
());
cam_coordinates
=
cv
::
viz
::
WCameraPosition
(
0.2
);
cam_coordinates
=
cv
::
viz
::
WCameraPosition
(
0.2
);
viz
.
showWidget
(
"bunny"
,
bunny_widget
);
viz
.
showWidget
(
"bunny"
,
bunny_widget
);
viz
.
showWidget
(
"cam_1"
,
cam_1
,
viz
::
makeCameraPose
(
Point3f
(
1.
0
,
0.0
,
0.0
),
Point3f
(
0.0
,
0.0
,
0.0
),
Point3f
(
0.0
,
1.0
,
0.0
)));
viz
.
showWidget
(
"cam_1"
,
cam_1
,
viz
::
makeCameraPose
(
Point3f
(
1.
f
,
0.
f
,
0.
f
),
Point3f
(
0.
f
,
0.
f
,
0.
f
),
Point3f
(
0.
f
,
1.
f
,
0.
f
)));
viz
.
showWidget
(
"cam_coordinate"
,
cam_coordinates
,
viz
::
makeCameraPose
(
Point3f
(
1.
0
,
0.0
,
0.0
),
Point3f
(
0.0
,
0.0
,
0.0
),
Point3f
(
0.0
,
1.0
,
0.0
)));
viz
.
showWidget
(
"cam_coordinate"
,
cam_coordinates
,
viz
::
makeCameraPose
(
Point3f
(
1.
f
,
0.
f
,
0.
f
),
Point3f
(
0.
f
,
0.
f
,
0.
f
),
Point3f
(
0.
f
,
1.
f
,
0.
f
)));
std
::
vector
<
Affine3f
>
cam_path
;
std
::
vector
<
Affine3f
>
cam_path
;
for
(
int
i
=
0
,
j
=
0
;
i
<=
360
;
++
i
,
j
+=
5
)
for
(
int
i
=
0
,
j
=
0
;
i
<=
360
;
++
i
,
j
+=
5
)
{
{
cam_path
.
push_back
(
viz
::
makeCameraPose
(
Vec3d
(
0.5
*
cos
(
double
(
i
)
*
CV_PI
/
180.0
),
0.5
*
sin
(
double
(
j
)
*
CV_PI
/
180.0
),
0.5
*
sin
(
double
(
i
)
*
CV_PI
/
180.0
)),
Vec3f
(
0.
f
,
0.
f
,
0.
f
),
Vec3f
(
0.
f
,
1.
f
,
0.
f
)));
cam_path
.
push_back
(
viz
::
makeCameraPose
(
Vec3d
(
0.5
*
cos
(
i
*
CV_PI
/
180.0
),
0.5
*
sin
(
j
*
CV_PI
/
180.0
),
0.5
*
sin
(
i
*
CV_PI
/
180.0
)),
Vec3f
(
0.
f
,
0.
f
,
0.
f
),
Vec3f
(
0.
f
,
1.
f
,
0.
f
)));
}
}
int
path_counter
=
0
;
int
path_counter
=
0
;
...
...
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