}
};
-cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Color &color, bool show_frames, double scale)
+cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode, const Color &color, double scale)
{
- vtkIdType nr_points = path.size();
-
- vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
- vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
- vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
-
- points->SetDataTypeToFloat();
- points->SetNumberOfPoints(nr_points);
- polyLine->GetPointIds()->SetNumberOfIds(nr_points);
-
- Vec3f last_pos(0.0f,0.0f,0.0f);
- Vec3f *data_beg = vtkpoints_data<float>(points);
- *data_beg = path[0] * last_pos;
+ vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
- for (vtkIdType i = 0; i < nr_points; ++i)
+ if (display_mode & TrajectoryWidget::DISPLAY_PATH)
{
- last_pos = path[i] * last_pos;
- *data_beg++ = last_pos;
- polyLine->GetPointIds()->SetId(i,i);
- }
-
- vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
- cells->InsertNextCell(polyLine);
+ // Create a poly line along the path
+ vtkIdType nr_points = path.size();
- polyData->SetPoints(points);
- polyData->SetLines(cells);
+ vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
+ vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();
+ vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();
+
+ points->SetDataTypeToFloat();
+ points->SetNumberOfPoints(nr_points);
+ polyLine->GetPointIds()->SetNumberOfIds(nr_points);
+
+ Vec3f last_pos(0.0f,0.0f,0.0f);
+ Vec3f *data_beg = vtkpoints_data<float>(points);
+
+ for (vtkIdType i = 0; i < nr_points; ++i)
+ {
+ last_pos = path[i] * last_pos;
+ *data_beg++ = last_pos;
+ polyLine->GetPointIds()->SetId(i,i);
+ }
+
+ vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+ cells->InsertNextCell(polyLine);
+
+ polyData->SetPoints(points);
+ polyData->SetLines(cells);
+
+ // Set the color for polyData
+ vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
+ colors->SetNumberOfComponents(3);
+
+ // TODO Make this more efficient
+ for (int i = 0; i < nr_points; ++i)
+ colors->InsertNextTuple3(color[2], color[1], color[0]);
+
+ polyData->GetPointData()->SetScalars(colors);
+ appendFilter->AddInputConnection(polyData->GetProducerPort());
+ }
- vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
- if (show_frames)
+ if (display_mode & TrajectoryWidget::DISPLAY_FRAMES)
{
+ // Create frames and transform along the path
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
ApplyPath::applyPath(axes_tubes->GetOutput(), appendFilter, path);
}
- // Set the color for polyData
- vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
- colors->SetNumberOfComponents(3);
-
- // TODO Make this more efficient
- for (int i = 0; i < nr_points; ++i)
- colors->InsertNextTuple3(color[2], color[1], color[0]);
-
- polyData->GetPointData()->SetScalars(colors);
-
- appendFilter->AddInputConnection(polyData->GetProducerPort());
-
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetScalarModeToUsePointData ();
mapper->SetInput(appendFilter->GetOutput());