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Commit f30f3b6c authored by Anatoly Baksheev's avatar Anatoly Baksheev
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Merge pull request #17 from ozantonkal/implementing_widgets 

Implementing widgets
parents dc348ff9 f5816c88
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Showing with 267 additions and 31 deletions
modules/viz/include/opencv2/viz.hpp
View file @ f30f3b6c
......@@ -64,7 +64,7 @@ namespace cv
CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
//! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation
CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& up_vector);
CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);
//! checks float value for Nan
......
modules/viz/include/opencv2/viz/widgets.hpp
View file @ f30f3b6c
#pragma once
#include <opencv2/viz/types.hpp>
#include <common.h>
namespace cv
......@@ -70,6 +71,8 @@ namespace cv
public:
PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
private:
struct SetSizeImpl;
};
class CV_EXPORTS SphereWidget : public Widget3D
......@@ -81,7 +84,7 @@ namespace cv
class CV_EXPORTS ArrowWidget : public Widget3D
{
public:
ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color = Color::white());
ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
};
class CV_EXPORTS CircleWidget : public Widget3D
......@@ -120,7 +123,12 @@ namespace cv
class CV_EXPORTS GridWidget : public Widget3D
{
public:
GridWidget(Vec2i dimensions, Vec2d spacing, const Color &color = Color::white());
GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
private:
struct GridImpl;
};
class CV_EXPORTS Text3DWidget : public Widget3D
......@@ -140,6 +148,48 @@ namespace cv
void setText(const String &text);
String getText() const;
};
class CV_EXPORTS ImageOverlayWidget : public Widget2D
{
public:
ImageOverlayWidget(const Mat &image, const Rect &rect);
void setImage(const Mat &image);
};
class CV_EXPORTS Image3DWidget : public Widget3D
{
public:
Image3DWidget(const Mat &image, const Size &size);
Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
void setImage(const Mat &image);
};
class CV_EXPORTS CameraPositionWidget : public Widget3D
{
public:
CameraPositionWidget(double scale = 1.0);
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
};
class CV_EXPORTS TrajectoryWidget : public Widget3D
{
public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
TrajectoryWidget(const std::vector<Affine3f> &path, float line_length, double init_sphere_radius,
double sphere_radius, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
private:
struct ApplyPath;
};
class CV_EXPORTS CloudWidget : public Widget3D
{
......@@ -151,6 +201,18 @@ namespace cv
struct CreateCloudWidget;
};
class CV_EXPORTS CloudCollectionWidget : public Widget3D
{
public:
CloudCollectionWidget();
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity());
private:
struct CreateCloudWidget;
};
class CV_EXPORTS CloudNormalsWidget : public Widget3D
{
public:
......@@ -183,7 +245,12 @@ namespace cv
template<> CV_EXPORTS GridWidget Widget::cast<GridWidget>();
template<> CV_EXPORTS Text3DWidget Widget::cast<Text3DWidget>();
template<> CV_EXPORTS TextWidget Widget::cast<TextWidget>();
template<> CV_EXPORTS ImageOverlayWidget Widget::cast<ImageOverlayWidget>();
template<> CV_EXPORTS Image3DWidget Widget::cast<Image3DWidget>();
template<> CV_EXPORTS CameraPositionWidget Widget::cast<CameraPositionWidget>();
template<> CV_EXPORTS TrajectoryWidget Widget::cast<TrajectoryWidget>();
template<> CV_EXPORTS CloudWidget Widget::cast<CloudWidget>();
template<> CV_EXPORTS CloudCollectionWidget Widget::cast<CloudCollectionWidget>();
template<> CV_EXPORTS CloudNormalsWidget Widget::cast<CloudNormalsWidget>();
template<> CV_EXPORTS MeshWidget Widget::cast<MeshWidget>();
......
modules/viz/src/cloud_widgets.cpp
View file @ f30f3b6c
This diff is collapsed.
modules/viz/src/precomp.hpp
View file @ f30f3b6c
......@@ -43,6 +43,7 @@
#include <vtkPlaneSource.h>
#include <vtkSphereSource.h>
#include <vtkArrowSource.h>
#include <vtkOutlineSource.h>
#include <vtkIdentityTransform.h>
#include <vtkTransform.h>
#include <vtkTransformPolyDataFilter.h>
......@@ -107,6 +108,7 @@
#include <vtkImageCanvasSource2D.h>
#include <vtkImageBlend.h>
#include <vtkImageStencilData.h>
#include <vtkImageActor.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkChartXY.h>
......@@ -131,7 +133,9 @@
#include <vtkImageReader2Factory.h>
#include <vtkImageReader2.h>
#include <vtkImageData.h>
#include <vtkExtractEdges.h>
#include <vtkFrustumSource.h>
#include <vtkTextureMapToPlane.h>
#include <vtkPolyDataNormals.h>
#include <vtkMapper.h>
......
modules/viz/src/shape_widgets.cpp
View file @ f30f3b6c
This diff is collapsed.
modules/viz/src/types.cpp
View file @ f30f3b6c
......@@ -111,7 +111,7 @@ struct cv::viz::Mesh3d::loadMeshImpl
Vec3b point_color;
poly_colors->GetTupleValue (i, point_color.val);
//RGB or BGR? should we swap channels????
std::swap(point_color[0], point_color[2]); // RGB -> BGR
mesh_colors[i] = point_color;
}
}
......
modules/viz/src/viz.cpp
View file @ f30f3b6c
......@@ -19,6 +19,32 @@ cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& ax
return Affine3f(R, origin);
}
cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
{
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3f u,v,n;
n = normalize(focal_point - position);
u = normalize(y_dir.cross(n));
v = n.cross(u);
Matx44f pose_mat;
pose_mat.zeros();
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) = 1.0f;
pose_mat = pose_mat.t();
return pose_mat;
}
vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix (const cv::Matx44f &m)
{
......
modules/viz/src/viz3d_impl.cpp
View file @ f30f3b6c
......@@ -847,7 +847,7 @@ bool cv::viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
return (true);
}
bool cv::viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id)
bool cv::viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& /*mesh*/, const std::string &/*id*/)
{
// CV_Assert(mesh.cloud.rows == 1 && mesh.cloud.type() == CV_32FC3);
//
......@@ -1017,7 +1017,7 @@ void cv::viz::Viz3d::VizImpl::setWindowName (const std::string &name)
void cv::viz::Viz3d::VizImpl::setWindowPosition (int x, int y) { window_->SetPosition (x, y); }
void cv::viz::Viz3d::VizImpl::setWindowSize (int xw, int yw) { window_->SetSize (xw, yw); }
bool cv::viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
bool cv::viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& /*mesh*/, const Mat& /*mask*/, const std::string &/*id*/)
{
// CV_Assert(mesh.cloud.type() == CV_32FC3 && mesh.cloud.rows == 1 && !mesh.polygons.empty ());
// CV_Assert(mesh.colors.empty() || (!mesh.colors.empty() && mesh.colors.size() == mesh.cloud.size() && mesh.colors.type() == CV_8UC3));
......@@ -1205,7 +1205,7 @@ return true;
}
bool cv::viz::Viz3d::VizImpl::updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id)
bool cv::viz::Viz3d::VizImpl::updatePolygonMesh (const Mesh3d& /*mesh*/, const cv::Mat& /*mask*/, const std::string &/*id*/)
{
// CV_Assert(mesh.cloud.type() == CV_32FC3 && mesh.cloud.rows == 1 && !mesh.polygons.empty ());
// CV_Assert(mesh.colors.empty() || (!mesh.colors.empty() && mesh.colors.size() == mesh.cloud.size() && mesh.colors.type() == CV_8UC3));
......
modules/viz/src/viz3d_impl.hpp
View file @ f30f3b6c
......@@ -327,6 +327,31 @@ namespace cv
}
return output;
}
static _Out* copyColor(const Mat& source, _Out* output, const Mat& nan_mask)
{
CV_Assert(DataDepth<_Tp>::value == source.depth() && source.size() == nan_mask.size());
CV_Assert(nan_mask.channels() == 3 || nan_mask.channels() == 4);
CV_DbgAssert(DataDepth<_Msk>::value == nan_mask.depth());
int s_chs = source.channels();
int m_chs = nan_mask.channels();
for(int y = 0; y < source.rows; ++y)
{
const _Tp* srow = source.ptr<_Tp>(y);
const _Msk* mrow = nan_mask.ptr<_Msk>(y);
for(int x = 0; x < source.cols; ++x, srow += s_chs, mrow += m_chs)
if (!isNan(mrow[0]) && !isNan(mrow[1]) && !isNan(mrow[2]))
{
*output = _Out(srow);
std::swap((*output)[0], (*output)[2]); // BGR -> RGB
++output;
}
}
return output;
}
};
template<typename _Tp>
......@@ -339,6 +364,17 @@ namespace cv
return table[nan_mask.depth() - 5](source, output, nan_mask);
}
template<typename _Tp>
static inline Vec<_Tp, 3>* copyColor(const Mat& source, Vec<_Tp, 3>* output, const Mat& nan_mask)
{
CV_Assert(nan_mask.depth() == CV_32F || nan_mask.depth() == CV_64F);
typedef Vec<_Tp, 3>* (*copy_func)(const Mat&, Vec<_Tp, 3>*, const Mat&);
const static copy_func table[2] = { &NanFilter::Impl<_Tp, float>::copyColor, &NanFilter::Impl<_Tp, double>::copyColor };
return table[nan_mask.depth() - 5](source, output, nan_mask);
}
};
struct ApplyAffine
......@@ -374,6 +410,63 @@ namespace cv
inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
struct ConvertToVtkImage
{
struct Impl
{
static void copyImageMultiChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
{
int i_chs = image.channels();
for (int i = 0; i < image.rows; ++i)
{
const unsigned char * irows = image.ptr<unsigned char>(i);
for (int j = 0; j < image.cols; ++j, irows += i_chs)
{
unsigned char * vrows = static_cast<unsigned char *>(output->GetScalarPointer(j,i,0));
memcpy(vrows, irows, i_chs);
std::swap(vrows[0], vrows[2]); // BGR -> RGB
}
}
output->Modified();
}
static void copyImageSingleChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
{
for (int i = 0; i < image.rows; ++i)
{
const unsigned char * irows = image.ptr<unsigned char>(i);
for (int j = 0; j < image.cols; ++j, ++irows)
{
unsigned char * vrows = static_cast<unsigned char *>(output->GetScalarPointer(j,i,0));
*vrows = *irows;
}
}
output->Modified();
}
};
static void convert(const Mat &image, vtkSmartPointer<vtkImageData> output)
{
// Create the vtk image
output->SetDimensions(image.cols, image.rows, 1);
output->SetNumberOfScalarComponents(image.channels());
output->SetScalarTypeToUnsignedChar();
output->AllocateScalars();
int i_chs = image.channels();
if (i_chs > 1)
{
// Multi channel images are handled differently because of BGR <-> RGB
Impl::copyImageMultiChannel(image, output);
}
else
{
Impl::copyImageSingleChannel(image, output);
}
}
};
}
}
......
modules/viz/src/widget.cpp
View file @ f30f3b6c
......@@ -142,10 +142,6 @@ void cv::viz::Widget3D::setColor(const Color &color)
actor->GetMapper ()->ScalarVisibilityOff ();
actor->GetProperty ()->SetColor (c.val);
actor->GetProperty ()->SetEdgeColor (c.val);
actor->GetProperty ()->SetAmbient (0.8);
actor->GetProperty ()->SetDiffuse (0.8);
actor->GetProperty ()->SetSpecular (0.8);
actor->GetProperty ()->SetLighting (0);
actor->Modified ();
}
......
modules/viz/test/test_viz3d.cpp
View file @ f30f3b6c
......@@ -43,6 +43,7 @@
#include <opencv2/viz.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <fstream>
#include <string>
......@@ -88,9 +89,11 @@ TEST(Viz_viz3d, accuracy)
viz::Color color = viz::Color::black();
viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green());
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0), 5.0);
viz::SphereWidget sw(Point3f(0, 0, 0), 0.5);
viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), viz::Color::red());
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0));
viz::PlaneWidget pw2(Vec4f(0.0,1.0,2.0,3.0), 2.0, viz::Color::red());
viz::PlaneWidget pw3(Vec4f(0.0,1.0,2.0,3.0), 3.0, viz::Color::blue());
viz::SphereWidget sw(Point3f(0, 0, 0), 0.2);
viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), 0.01, viz::Color::red());
viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green());
viz::CylinderWidget cyw(Point3f(0, 0, 0), Point3f(-1, -1, -1), 0.5, 30, viz::Color::green());
viz::CubeWidget cuw(Point3f(-2, -2, -2), Point3f(-1, -1, -1));
......@@ -99,18 +102,20 @@ TEST(Viz_viz3d, accuracy)
viz::CloudWidget pcw(cloud, colors);
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
viz.showWidget("line", lw);
// viz.showWidget("line", lw);
viz.showWidget("plane", pw);
viz.showWidget("sphere", sw);
viz.showWidget("arrow", aw);
viz.showWidget("circle", cw);
viz.showWidget("cylinder", cyw);
viz.showWidget("cube", cuw);
viz.showWidget("plane2", pw2);
viz.showWidget("plane3", pw3);
// viz.showWidget("sphere", sw);
// viz.showWidget("arrow", aw);
// viz.showWidget("circle", cw);
// viz.showWidget("cylinder", cyw);
// viz.showWidget("cube", cuw);
viz.showWidget("coordinateSystem", csw);
viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
viz.showWidget("text",tw);
viz.showWidget("pcw",pcw);
viz.showWidget("pcw2",pcw2);
// viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
// viz.showWidget("text",tw);
// viz.showWidget("pcw",pcw);
// viz.showWidget("pcw2",pcw2);
// viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
......@@ -125,13 +130,55 @@ TEST(Viz_viz3d, accuracy)
viz::PolyLineWidget plw(points, viz::Color::green());
viz.showWidget("polyline", plw);
// viz.showWidget("polyline", plw);
// lw = v.getWidget("polyline").cast<viz::LineWidget>();
viz::Mesh3d::Ptr mesh = cv::viz::Mesh3d::loadMesh("horse.ply");
viz::Mesh3d mesh = cv::viz::Mesh3d::loadMesh("horse.ply");
viz::MeshWidget mw(*mesh);
viz.showWidget("mesh", mw);
viz::MeshWidget mw(mesh);
// viz.showWidget("mesh", mw);
Mat img = imread("opencv.png");
// resize(img, img, Size(50,50));
// viz.showWidget("img", viz::ImageOverlayWidget(img, Point2i(50,50)));
Matx33f K(657, 0, 320,
0, 657, 240,
0, 0, 1);
viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::CameraPositionWidget cpw2(0.5);
viz::CameraPositionWidget frustum(K, 2.0, viz::Color::green());
// viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum3(Vec2f(CV_PI, CV_PI/2), 4.0);
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
viz::Text3DWidget t3w2("Camera2", Point3f(0,0,0), 0.1);
// viz.showWidget("CameraPositionWidget", cpw);
// viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("camera_label", t3w1);
// viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustum3", frustum3, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
std::vector<Affine3f> trajectory;
trajectory.push_back(Affine3f().translate(Vec3f(0.5,0.5,0.5)));
trajectory.push_back(Affine3f().translate(Vec3f(1.0,0.0,0.0)));
trajectory.push_back(Affine3f().translate(Vec3f(2.0,0.5,0.0)));
trajectory.push_back(Affine3f(0.5, 0.0, 0.0, Vec3f(1.0,0.0,1.0)));
//
viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory, viz::Color(0,255,255), true, 0.5));
viz.showWidget("trajectory2", viz::TrajectoryWidget(trajectory, K, 1.0, viz::Color(255,0,255)));
// viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory/*, viz::Color::yellow()*/));
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);
viz.spin();
......@@ -156,13 +203,16 @@ TEST(Viz_viz3d, accuracy)
//plw.setColor(viz::Color(col_blue, col_green, col_red));
sw.setPose(cloudPosition);
// sw.setPose(cloudPosition);
// pw.setPose(cloudPosition);
aw.setPose(cloudPosition);
cw.setPose(cloudPosition);
cyw.setPose(cloudPosition);
frustum.setPose(cloudPosition);
// lw.setPose(cloudPosition);
cuw.setPose(cloudPosition);
// cpw.updatePose(Affine3f(0.1,0.0,0.0, cv::Vec3f(0.0,0.0,0.0)));
// cpw.setPose(cloudPosition);
// cnw.setPose(cloudPosition);
// v.showWidget("pcw",pcw, cloudPosition);
// v.showWidget("pcw2",pcw2, cloudPosition2);
......
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