{
Widget3D widget = this->cast<Widget3D>();
return static_cast<Image3DWidget&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// camera position widget implementation
+cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale)
+{
+ vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
+ axes->SetOrigin (0, 0, 0);
+ axes->SetScaleFactor (scale);
+
+ // Compute the transformation matrix for drawing the camera frame in a scene
+ Vec3f u,v,n;
+ n = normalize(look_at - position);
+ u = normalize(up_vector.cross(n));
+ v = n.cross(u);
+
+ vtkSmartPointer<vtkMatrix4x4> mat_trans = vtkSmartPointer<vtkMatrix4x4>::New();
+ mat_trans->SetElement(0,0,u[0]);
+ mat_trans->SetElement(0,1,u[1]);
+ mat_trans->SetElement(0,2,u[2]);
+ mat_trans->SetElement(1,0,v[0]);
+ mat_trans->SetElement(1,1,v[1]);
+ mat_trans->SetElement(1,2,v[2]);
+ mat_trans->SetElement(2,0,n[0]);
+ mat_trans->SetElement(2,1,n[1]);
+ mat_trans->SetElement(2,2,n[2]);
+ // Inverse rotation (orthogonal, so just take transpose)
+ mat_trans->Transpose();
+ // Then translate the coordinate frame to camera position
+ mat_trans->SetElement(0,3,position[0]);
+ mat_trans->SetElement(1,3,position[1]);
+ mat_trans->SetElement(2,3,position[2]);
+ mat_trans->SetElement(3,3,1);
+
+ vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
+ axes_colors->Allocate (6);
+ axes_colors->InsertNextValue (0.0);
+ axes_colors->InsertNextValue (0.0);
+ axes_colors->InsertNextValue (0.5);
+ axes_colors->InsertNextValue (0.5);
+ axes_colors->InsertNextValue (1.0);
+ axes_colors->InsertNextValue (1.0);
+
+ vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
+ axes_data->Update ();
+ axes_data->GetPointData ()->SetScalars (axes_colors);
+
+ // Transform the default coordinate frame
+ vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+ transform->PreMultiply();
+ transform->SetMatrix(mat_trans);
+
+ vtkSmartPointer<vtkTransformPolyDataFilter> filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
+ filter->SetInput(axes_data);
+ filter->SetTransform(transform);
+ filter->Update();
+
+ vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+ axes_tubes->SetInput (filter->GetOutput());
+ axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
+ axes_tubes->SetNumberOfSides (6);
+
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+ mapper->SetScalarModeToUsePointData ();
+ mapper->SetInput(axes_tubes->GetOutput ());
+
+ vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
+ actor->SetMapper(mapper);
+
+ WidgetAccessor::setProp(*this, actor);
}
\ No newline at end of file
#include <opencv2/viz.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
#include <fstream>
#include <string>
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::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::CloudWidget pcw(cloud, colors);
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
- viz.showWidget("line", lw);
- viz.showWidget("plane", pw);
+// 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("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);
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)));
+
+ 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::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
+
+
+ viz.showWidget("CameraPositionWidget", cpw);
+ viz.showWidget("camera_label", t3w1);
+// viz.showWidget("CameraPositionWidget2", cpw2);
+// viz.showWidget("CameraPositionWidget3", cpw3);
viz.spin();
//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);
// 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);