renderer_->ResetCamera ();
}
-
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCameraPosition (const cv::Vec3d& pos, const cv::Vec3d& view, const cv::Vec3d& up)
{
-
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetPosition (pos[0], pos[1], pos[2]);
cam->SetFocalPoint (view[0], view[1], view[2]);
void cv::viz::Viz3d::VizImpl::setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z)
{
//rens_->InitTraversal ();
-
-
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
cam->SetPosition (pos_x, pos_y, pos_z);
cam->SetViewUp (up_x, up_y, up_z);
renderer_->Render ();
-
}
/////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata)
-{
- polydata = vtkSmartPointer<vtkAppendPolyData>::New ();
-}
-//////////////////////////////////////////////////////////////////////////////////////////////
+{polydata = vtkSmartPointer<vtkAppendPolyData>::New (); }
+
void cv::viz::Viz3d::VizImpl::allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata)
-{
- polydata = vtkSmartPointer<vtkPolyData>::New ();
-}
-//////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata)
-{
- polydata = vtkSmartPointer<vtkUnstructuredGrid>::New ();
-}
+{ polydata = vtkSmartPointer<vtkPolyData>::New (); }
+void cv::viz::Viz3d::VizImpl::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata)
+{ polydata = vtkSmartPointer<vtkUnstructuredGrid>::New (); }
//////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix)
vtk_matrix->SetElement (3, 3, 1.0f);
}
-vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix (const cv::Matx44f &m)
-{
- vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
- for (int i = 0; i < 4; i++)
- for (int k = 0; k < 4; k++)
- vtk_matrix->SetElement(i, k, m(i, k));
- return vtk_matrix;
-}
-
-cv::Matx44f cv::viz::convertToMatx(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);
- return m;
-}
//////////////////////////////////////////////////////////////////////////////////////////////
window_->SetWindowName (name.c_str ());
}
-void cv::viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); }
-void cv::viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); }
+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)
{
typedef Viz3d::MouseCallback MouseCallback;
VizImpl (const String &name);
-
virtual ~VizImpl ();
- void setFullScreen (bool mode);
- void setWindowName (const String &name);
-
- void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
- void registerMouseCallback(MouseCallback callback, void* cookie = 0);
- void spin ();
- void spinOnce (int time = 1, bool force_redraw = false);
+
+
+
+
+
+
+
+ //to refactor
bool removePointCloud (const String& id = "cloud");
- inline bool removePolygonMesh (const String& id = "polygon")
- {
- // Polygon Meshes are represented internally as point clouds with special cell array structures since 1.4
- return removePointCloud (id);
- }
+ inline bool removePolygonMesh (const String& id = "polygon") { return removePointCloud (id); }
bool removeShape (const String& id = "cloud");
-
bool removeText3D (const String& id = "cloud");
bool removeAllPointClouds ();
- bool removeAllShapes ();
- void setBackgroundColor (const Color& color);
+ //create Viz3d::removeAllWidgets()
+ bool removeAllShapes ();
+ //to refactor
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
-
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
+ // to refactor: Widget3D:: & Viz3d::
bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
-
bool setShapeRenderingProperties (int property, double value, const String& id);
/** \brief Set whether the point cloud is selected or not
* \param[in] selected whether the cloud is selected or not (true = selected)
* \param[in] id the point cloud object id (default: cloud)
*/
+ // probably should just remove
bool setPointCloudSelected (const bool selected, const String& id = "cloud" );
+
+
+
+
+
+
+
/** \brief Returns true when the user tried to close the window */
bool wasStopped () const { if (interactor_ != NULL) return (stopped_); else return true; }
void close ()
{
stopped_ = true;
- // This tends to close the window...
- interactor_->TerminateApp ();
+ interactor_->TerminateApp (); // This tends to close the window...
}
+
+
+
+
+
+
+
+
+
+
+ // to refactor
bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
- // Add a vtkPolydata as a mesh
+ // Probably remove this
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const String& id = "PolyData");
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const String& id = "PolyData");
+
+ // I think this should be moved to 'static Widget Widget::fromPlyFile(const String&)';
bool addModelFromPLYFile (const String &filename, const String& id = "PLYModel");
bool addModelFromPLYFile (const String &filename, vtkSmartPointer<vtkTransform> transform, const String& id = "PLYModel");
- /** \brief Changes the visual representation for all actors to surface representation. */
- void setRepresentationToSurfaceForAllActors ();
- /** \brief Changes the visual representation for all actors to points representation. */
- void setRepresentationToPointsForAllActors ();
+ // to implement in Viz3d with shorter name
+ void setRepresentationToSurfaceForAllActors();
+ void setRepresentationToPointsForAllActors();
+ void setRepresentationToWireframeForAllActors();
- /** \brief Changes the visual representation for all actors to wireframe representation. */
- void setRepresentationToWireframeForAllActors ();
- /** \brief Initialize camera parameters with some default values. */
- void initCameraParameters ();
- /** \brief Search for camera parameters at the command line and set them internally.
- bool getCameraParameters (int argc, char **argv);
- /** \brief Checks whether the camera parameters were manually loaded from file.*/
- bool cameraParamsSet () const;
- /** \brief Update camera parameters and render. */
- void updateCamera ();
- /** \brief Reset camera parameters and render. */
- void resetCamera ();
+
+
+ // ////////////////////////////////////////////////////////////////////////////////////
+ // All camera methods to refactor into set/getViewwerPose, setCamera()
+ // and 'Camera' class itself with various constructors/fields
+
+ void initCameraParameters (); /** \brief Initialize camera parameters with some default values. */
+ bool cameraParamsSet () const; /** \brief Checks whether the camera parameters were manually loaded from file.*/
+ void updateCamera (); /** \brief Update camera parameters and render. */
+ void resetCamera (); /** \brief Reset camera parameters and render. */
/** \brief Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
- * \param[in] id the point cloud object id (default: cloud)
- */
+ * \param[in] id the point cloud object id (default: cloud) */
void resetCameraViewpoint (const String& id = "cloud");
-
/** \brief Set the camera pose given by position, viewpoint and up vector
- * \param[in] pos_x the x coordinate of the camera location
- * \param[in] pos_y the y coordinate of the camera location
- * \param[in] pos_z the z coordinate of the camera location
- * \param[in] view_x the x component of the view point of the camera
- * \param[in] view_y the y component of the view point of the camera
- * \param[in] view_z the z component of the view point of the camera
- * \param[in] up_x the x component of the view up direction of the camera
- * \param[in] up_y the y component of the view up direction of the camera
- * \param[in] up_z the y component of the view up direction of the camera
- */
+ * \param[in] pos camera location
+ * \param[in] view the view point of the camera
+ * \param[in] up the view up direction of the camera */
void setCameraPosition (const cv::Vec3d& pos, const cv::Vec3d& view, const cv::Vec3d& up);
/** \brief Set the camera location and viewup according to the given arguments
- * \param[in] pos_x the x coordinate of the camera location
- * \param[in] pos_y the y coordinate of the camera location
- * \param[in] pos_z the z coordinate of the camera location
- * \param[in] up_x the x component of the view up direction of the camera
- * \param[in] up_y the y component of the view up direction of the camera
- * \param[in] up_z the z component of the view up direction of the camera
- */
+ * \param[in] pos_x,y,z the x,y,z coordinate of the camera location
+ * \param[in] up_x,y,z the x,y,z component of the view up direction of the camera */
void setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z);
/** \brief Set the camera parameters via an intrinsics and and extrinsics matrix
- * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
- * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
- * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
- */
+ * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
+ * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
+ * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters */
void setCameraParameters (const cv::Matx33f& intrinsics, const Affine3f& extrinsics);
-
- /** \brief Set the camera parameters by given a full camera data structure.
- * \param[in] camera camera structure containing all the camera parameters.
- */
void setCameraParameters (const Camera &camera);
-
- /** \brief Set the camera clipping distances.
- * \param[in] near the near clipping distance (no objects closer than this to the camera will be drawn)
- * \param[in] far the far clipping distance (no objects further away than this to the camera will be drawn)
- */
void setCameraClipDistances (double near, double far);
-
- /** \brief Set the camera vertical field of view in radians */
void setCameraFieldOfView (double fovy);
-
- /** \brief Get the current camera parameters. */
void getCameras (Camera& camera);
- /** \brief Get the current viewing pose. */
- Affine3f getViewerPose ();
+ //to implement Viz3d set/getViewerPose()
+ Affine3f getViewerPose();
+
+
+
+
+
+
+
+
+
+
+
+ //to implemnt in Viz3d
void saveScreenshot (const String &file);
+ void setWindowPosition (int x, int y);
+ void setWindowSize (int xw, int yw);
+ void setFullScreen (bool mode);
+ void setWindowName (const String &name);
+ void setBackgroundColor (const Color& color);
- /** \brief Return a pointer to the underlying VTK Render Window used. */
- //vtkSmartPointer<vtkRenderWindow> getRenderWindow () { return (window_); }
+ void spin ();
+ void spinOnce (int time = 1, bool force_redraw = false);
- void setPosition (int x, int y);
- void setSize (int xw, int yw);
-
+ void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+ void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+
+
+
+
+
+
+
+
+ //declare above (to move to up)
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
void removeWidget(const String &id);
Widget getWidget(const String &id) const;
projects / profile / ivi / opencv.git / commitdiff