From 3260404fdf939d9b41d76a5ae427b5f37b9ab8ba Mon Sep 17 00:00:00 2001 From: ozantonkal Date: Thu, 18 Jul 2013 10:39:34 +0200 Subject: [PATCH] initial CameraPositionWidget implementation using eye, look_at, up_vector --- modules/viz/include/opencv2/viz/widgets.hpp | 8 ++++ modules/viz/src/shape_widgets.cpp | 70 +++++++++++++++++++++++++++++ modules/viz/test/test_viz3d.cpp | 49 +++++++++++++------- 3 files changed, 110 insertions(+), 17 deletions(-) diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp index 4ed47e1..1e46ada 100644 --- a/modules/viz/include/opencv2/viz/widgets.hpp +++ b/modules/viz/include/opencv2/viz/widgets.hpp @@ -1,6 +1,7 @@ #pragma once #include +#include namespace cv @@ -162,6 +163,13 @@ namespace cv private: struct CopyImpl; }; + + class CV_EXPORTS CameraPositionWidget : public Widget3D + { + public: + CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0); + + }; class CV_EXPORTS CloudWidget : public Widget3D { diff --git a/modules/viz/src/shape_widgets.cpp b/modules/viz/src/shape_widgets.cpp index cca8b33..05715b4 100644 --- a/modules/viz/src/shape_widgets.cpp +++ b/modules/viz/src/shape_widgets.cpp @@ -774,4 +774,74 @@ template<> cv::viz::Image3DWidget cv::viz::Widget::cast( { Widget3D widget = this->cast(); return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// camera position widget implementation +cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale) +{ + vtkSmartPointer axes = vtkSmartPointer::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 mat_trans = vtkSmartPointer::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 axes_colors = vtkSmartPointer::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 axes_data = axes->GetOutput (); + axes_data->Update (); + axes_data->GetPointData ()->SetScalars (axes_colors); + + // Transform the default coordinate frame + vtkSmartPointer transform = vtkSmartPointer::New(); + transform->PreMultiply(); + transform->SetMatrix(mat_trans); + + vtkSmartPointer filter = vtkSmartPointer::New(); + filter->SetInput(axes_data); + filter->SetTransform(transform); + filter->Update(); + + vtkSmartPointer axes_tubes = vtkSmartPointer::New (); + axes_tubes->SetInput (filter->GetOutput()); + axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0); + axes_tubes->SetNumberOfSides (6); + + vtkSmartPointer mapper = vtkSmartPointer::New (); + mapper->SetScalarModeToUsePointData (); + mapper->SetInput(axes_tubes->GetOutput ()); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + + WidgetAccessor::setProp(*this, actor); } \ No newline at end of file diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp index 687d9f1..067be21 100644 --- a/modules/viz/test/test_viz3d.cpp +++ b/modules/viz/test/test_viz3d.cpp @@ -43,6 +43,7 @@ #include #include #include +#include #include #include @@ -89,7 +90,7 @@ TEST(Viz_viz3d, accuracy) 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()); @@ -99,18 +100,18 @@ TEST(Viz_viz3d, accuracy) 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); @@ -125,13 +126,26 @@ 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::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(); @@ -156,13 +170,14 @@ 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); // 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); -- 2.7.4