From d6e2b657f92a207dbf4809f9c24d12eb34cc0dbc Mon Sep 17 00:00:00 2001 From: Anatoly Baksheev Date: Sat, 13 Jul 2013 19:08:25 +0400 Subject: [PATCH] more refactoring --- modules/viz/include/opencv2/viz.hpp | 23 ++ modules/viz/include/opencv2/viz/events.hpp | 113 ------- modules/viz/include/opencv2/viz/types.hpp | 105 +++--- modules/viz/include/opencv2/viz/viz3d.hpp | 34 +- modules/viz/src/cloud_widgets.cpp | 313 +++++++++++++++++ modules/viz/src/common.cpp | 13 +- modules/viz/src/interactor_style.cpp | 5 - modules/viz/src/interactor_style.h | 38 +-- modules/viz/src/precomp.hpp | 1 - .../{simple_widgets.cpp => shape_widgets.cpp} | 314 +----------------- modules/viz/src/types.cpp | 39 +++ modules/viz/src/viz3d.cpp | 73 +--- .../viz/src/{viz_main.cpp => viz3d_impl.cpp} | 37 +-- modules/viz/src/viz3d_impl.hpp | 38 +-- 14 files changed, 483 insertions(+), 663 deletions(-) delete mode 100644 modules/viz/include/opencv2/viz/events.hpp create mode 100644 modules/viz/src/cloud_widgets.cpp rename modules/viz/src/{simple_widgets.cpp => shape_widgets.cpp} (60%) rename modules/viz/src/{viz_main.cpp => viz3d_impl.cpp} (98%) diff --git a/modules/viz/include/opencv2/viz.hpp b/modules/viz/include/opencv2/viz.hpp index f956d0ef8e..b20ccaebc3 100644 --- a/modules/viz/include/opencv2/viz.hpp +++ b/modules/viz/include/opencv2/viz.hpp @@ -60,7 +60,30 @@ namespace cv //! takes coordiante frame data and builds transfrom to global coordinate frame 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 posiont, 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); + + //! checks float value for Nan + inline bool isNan(float x) + { + unsigned int *u = reinterpret_cast(&x); + return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff); + } + + //! checks double value for Nan + inline bool isNan(double x) + { + unsigned int *u = reinterpret_cast(&x); + return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0); + } + + //! checks vectors for Nans + template inline bool isNan(const Vec<_Tp, cn>& v) + { return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); } + + //! checks point for Nans + template inline bool isNan(const Point3_<_Tp>& p) + { return isNan(p.x) || isNan(p.y) || isNan(p.z); } } } diff --git a/modules/viz/include/opencv2/viz/events.hpp b/modules/viz/include/opencv2/viz/events.hpp deleted file mode 100644 index aa1d950da0..0000000000 --- a/modules/viz/include/opencv2/viz/events.hpp +++ /dev/null @@ -1,113 +0,0 @@ -#pragma once - -#include -#include - -namespace cv -{ - namespace viz - { - class KeyboardEvent - { - public: - static const unsigned int Alt = 1; - static const unsigned int Ctrl = 2; - static const unsigned int Shift = 4; - - /** \brief Constructor - * \param[in] action true for key was pressed, false for released - * \param[in] key_sym the key-name that caused the action - * \param[in] key the key code that caused the action - * \param[in] alt whether the alt key was pressed at the time where this event was triggered - * \param[in] ctrl whether the ctrl was pressed at the time where this event was triggered - * \param[in] shift whether the shift was pressed at the time where this event was triggered - */ - KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift); - - bool isAltPressed () const; - bool isCtrlPressed () const; - bool isShiftPressed () const; - - unsigned char getKeyCode () const; - - const String& getKeySym () const; - bool keyDown () const; - bool keyUp () const; - - protected: - - bool action_; - unsigned int modifiers_; - unsigned char key_code_; - String key_sym_; - }; - - class MouseEvent - { - public: - enum Type - { - MouseMove = 1, - MouseButtonPress, - MouseButtonRelease, - MouseScrollDown, - MouseScrollUp, - MouseDblClick - } ; - - enum MouseButton - { - NoButton = 0, - LeftButton, - MiddleButton, - RightButton, - VScroll /*other buttons, scroll wheels etc. may follow*/ - } ; - - MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift); - - - Type type; - MouseButton button; - Point pointer; - unsigned int key_state; - }; - } -} - -//////////////////////////////////////////////////////////////////// -/// Implementation - -inline cv::viz::KeyboardEvent::KeyboardEvent (bool _action, const std::string& _key_sym, unsigned char key, bool alt, bool ctrl, bool shift) - : action_ (_action), modifiers_ (0), key_code_(key), key_sym_ (_key_sym) -{ - if (alt) - modifiers_ = Alt; - - if (ctrl) - modifiers_ |= Ctrl; - - if (shift) - modifiers_ |= Shift; -} - -inline bool cv::viz::KeyboardEvent::isAltPressed () const { return (modifiers_ & Alt) != 0; } -inline bool cv::viz::KeyboardEvent::isCtrlPressed () const { return (modifiers_ & Ctrl) != 0; } -inline bool cv::viz::KeyboardEvent::isShiftPressed () const { return (modifiers_ & Shift) != 0; } -inline unsigned char cv::viz::KeyboardEvent::getKeyCode () const { return key_code_; } -inline const cv::String& cv::viz::KeyboardEvent::getKeySym () const { return key_sym_; } -inline bool cv::viz::KeyboardEvent::keyDown () const { return action_; } -inline bool cv::viz::KeyboardEvent::keyUp () const { return !action_; } - -inline cv::viz::MouseEvent::MouseEvent (const Type& _type, const MouseButton& _button, const Point& _p, bool alt, bool ctrl, bool shift) - : type(_type), button(_button), pointer(_p), key_state(0) -{ - if (alt) - key_state = KeyboardEvent::Alt; - - if (ctrl) - key_state |= KeyboardEvent::Ctrl; - - if (shift) - key_state |= KeyboardEvent::Shift; -} diff --git a/modules/viz/include/opencv2/viz/types.hpp b/modules/viz/include/opencv2/viz/types.hpp index fd00a7a0ae..357b46f256 100644 --- a/modules/viz/include/opencv2/viz/types.hpp +++ b/modules/viz/include/opencv2/viz/types.hpp @@ -1,6 +1,6 @@ #pragma once -#include +#include #include #include #include @@ -8,35 +8,7 @@ namespace cv { typedef std::string String; -// //qt creator hack -// typedef cv::Scalar Scalar; -// typedef cv::Mat Mat; -// typedef std::string String; - -// typedef cv::Vec3d Vec3d; -// typedef cv::Vec3f Vec3f; -// typedef cv::Vec4d Vec4d; -// typedef cv::Vec4f Vec4f; -// typedef cv::Vec2d Vec2d; -// typedef cv::Vec2i Vec2i; -// typedef cv::Vec3b Vec3b; -// typedef cv::Matx33d Matx33d; -// typedef cv::Affine3f Affine3f; -// typedef cv::Affine3d Affine3d; -// typedef cv::Point2i Point2i; -// typedef cv::Point3f Point3f; -// typedef cv::Point3d Point3d; -// typedef cv::Matx44d Matx44d; -// typedef cv::Matx44f Matx44f; -// typedef cv::Size Size; -// typedef cv::Point Point; -// typedef cv::InputArray InputArray; -// using cv::Point3_; -// using cv::Vec; -// using cv::Mat_; -// using cv::DataDepth; -// using cv::DataType; -// using cv::Ptr; + namespace viz { class CV_EXPORTS Color : public Scalar @@ -79,35 +51,58 @@ namespace cv }; - ///////////////////////////////////////////////////////////////////////////// - /// Utility functions + class CV_EXPORTS KeyboardEvent + { + public: + static const unsigned int Alt = 1; + static const unsigned int Ctrl = 2; + static const unsigned int Shift = 4; + + /** \brief Constructor + * \param[in] action true for key was pressed, false for released + * \param[in] key_sym the key-name that caused the action + * \param[in] key the key code that caused the action + * \param[in] alt whether the alt key was pressed at the time where this event was triggered + * \param[in] ctrl whether the ctrl was pressed at the time where this event was triggered + * \param[in] shift whether the shift was pressed at the time where this event was triggered + */ + KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift); + + bool isAltPressed () const; + bool isCtrlPressed () const; + bool isShiftPressed () const; + + unsigned char getKeyCode () const; + + const String& getKeySym () const; + bool keyDown () const; + bool keyUp () const; + + protected: + + bool action_; + unsigned int modifiers_; + unsigned char key_code_; + String key_sym_; + }; - inline Color vtkcolor(const Color& color) + class CV_EXPORTS MouseEvent { - Color scaled_color = color * (1.0/255.0); - std::swap(scaled_color[0], scaled_color[2]); - return scaled_color; - } + public: + enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ; + enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ; - inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); } - template inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); } + MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift); + + Type type; + MouseButton button; + Point pointer; + unsigned int key_state; + }; + + } /* namespace viz */ +} /* namespace cv */ - inline bool isNan(float x) - { - unsigned int *u = reinterpret_cast(&x); - return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff); - } - inline bool isNan(double x) - { - unsigned int *u = reinterpret_cast(&x); - return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0); - } - template inline bool isNan(const Vec<_Tp, cn>& v) - { return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); } - template inline bool isNan(const Point3_<_Tp>& p) - { return isNan(p.x) || isNan(p.y) || isNan(p.z); } - } -} diff --git a/modules/viz/include/opencv2/viz/viz3d.hpp b/modules/viz/include/opencv2/viz/viz3d.hpp index a603c879ae..db8819afd7 100644 --- a/modules/viz/include/opencv2/viz/viz3d.hpp +++ b/modules/viz/include/opencv2/viz/viz3d.hpp @@ -4,14 +4,9 @@ //#error "Viz is in beta state now. Please define macro above to use it" #endif -#include #include - - -#include #include #include -#include namespace cv { @@ -20,28 +15,21 @@ namespace cv class CV_EXPORTS Viz3d { public: - typedef cv::Ptr Ptr; + typedef void (*KeyboardCallback)(const KeyboardEvent&, void*); + typedef void (*MouseCallback)(const MouseEvent&, void*); Viz3d(const String& window_name = String()); ~Viz3d(); void setBackgroundColor(const Color& color = Color::black()); - bool addPolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); - bool updatePolygonMesh (const Mesh3d& mesh, const String& id = "polygon"); - + //to refactor + bool addPolygonMesh(const Mesh3d& mesh, const String& id = "polygon"); + bool updatePolygonMesh(const Mesh3d& mesh, const String& id = "polygon"); bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline"); - bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon"); - void spin (); - void spinOnce (int time = 1, bool force_redraw = false); - - void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie = 0); - void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0); - - bool wasStopped() const; void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity()); void removeWidget(const String &id); @@ -50,6 +38,13 @@ namespace cv void setWidgetPose(const String &id, const Affine3f &pose); void updateWidgetPose(const String &id, const Affine3f &pose); Affine3f getWidgetPose(const String &id) const; + + void spin(); + void spinOnce(int time = 1, bool force_redraw = false); + bool wasStopped() const; + + void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); + void registerMouseCallback(MouseCallback callback, void* cookie = 0); private: Viz3d(const Viz3d&); Viz3d& operator=(const Viz3d&); @@ -57,8 +52,9 @@ namespace cv struct VizImpl; VizImpl* impl_; }; - } -} + + } /* namespace viz */ +} /* namespace cv */ diff --git a/modules/viz/src/cloud_widgets.cpp b/modules/viz/src/cloud_widgets.cpp new file mode 100644 index 0000000000..6999813e82 --- /dev/null +++ b/modules/viz/src/cloud_widgets.cpp @@ -0,0 +1,313 @@ +#include "precomp.hpp" + + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Point Cloud Widget implementation + +struct cv::viz::CloudWidget::CreateCloudWidget +{ + static inline vtkSmartPointer create(const Mat &cloud, vtkIdType &nr_points) + { + vtkSmartPointer polydata = vtkSmartPointer::New (); + vtkSmartPointer vertices = vtkSmartPointer::New (); + + polydata->SetVerts (vertices); + + vtkSmartPointer points = polydata->GetPoints(); + vtkSmartPointer initcells; + nr_points = cloud.total(); + + if (!points) + { + points = vtkSmartPointer::New (); + if (cloud.depth() == CV_32F) + points->SetDataTypeToFloat(); + else if (cloud.depth() == CV_64F) + points->SetDataTypeToDouble(); + polydata->SetPoints (points); + } + points->SetNumberOfPoints (nr_points); + + if (cloud.depth() == CV_32F) + { + // Get a pointer to the beginning of the data array + Vec3f *data_beg = vtkpoints_data(points); + Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud); + nr_points = data_end - data_beg; + } + else if (cloud.depth() == CV_64F) + { + // Get a pointer to the beginning of the data array + Vec3d *data_beg = vtkpoints_data(points); + Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud); + nr_points = data_end - data_beg; + } + points->SetNumberOfPoints (nr_points); + + // Update cells + vtkSmartPointer cells = vertices->GetData (); + // If no init cells and cells has not been initialized... + if (!cells) + cells = vtkSmartPointer::New (); + + // If we have less values then we need to recreate the array + if (cells->GetNumberOfTuples () < nr_points) + { + cells = vtkSmartPointer::New (); + + // If init cells is given, and there's enough data in it, use it + if (initcells && initcells->GetNumberOfTuples () >= nr_points) + { + cells->DeepCopy (initcells); + cells->SetNumberOfComponents (2); + cells->SetNumberOfTuples (nr_points); + } + else + { + // If the number of tuples is still too small, we need to recreate the array + cells->SetNumberOfComponents (2); + cells->SetNumberOfTuples (nr_points); + vtkIdType *cell = cells->GetPointer (0); + // Fill it with 1s + std::fill_n (cell, nr_points * 2, 1); + cell++; + for (vtkIdType i = 0; i < nr_points; ++i, cell += 2) + *cell = i; + // Save the results in initcells + initcells = vtkSmartPointer::New (); + initcells->DeepCopy (cells); + } + } + else + { + // The assumption here is that the current set of cells has more data than needed + cells->SetNumberOfComponents (2); + cells->SetNumberOfTuples (nr_points); + } + + // Set the cells and the vertices + vertices->SetCells (nr_points, cells); + return polydata; + } +}; + +cv::viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors) +{ + Mat cloud = _cloud.getMat(); + Mat colors = _colors.getMat(); + CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); + CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size()); + + if (cloud.isContinuous() && colors.isContinuous()) + { + cloud.reshape(cloud.channels(), 1); + colors.reshape(colors.channels(), 1); + } + + vtkIdType nr_points; + vtkSmartPointer polydata = CreateCloudWidget::create(cloud, nr_points); + + // Filter colors + Vec3b* colors_data = new Vec3b[nr_points]; + NanFilter::copy(colors, colors_data, cloud); + + vtkSmartPointer scalars = vtkSmartPointer::New (); + scalars->SetNumberOfComponents (3); + scalars->SetNumberOfTuples (nr_points); + scalars->SetArray (colors_data->val, 3 * nr_points, 0); + + // Assign the colors + polydata->GetPointData ()->SetScalars (scalars); + + vtkSmartPointer mapper = vtkSmartPointer::New (); + mapper->SetInput (polydata); + + Vec3d minmax(scalars->GetRange()); + mapper->SetScalarRange(minmax.val); + mapper->SetScalarModeToUsePointData (); + + bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ()); + + mapper->SetInterpolateScalarsBeforeMapping (interpolation); + mapper->ScalarVisibilityOn (); + + mapper->ImmediateModeRenderingOff (); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetNumberOfCloudPoints (int (std::max (1, polydata->GetNumberOfPoints () / 10))); + actor->GetProperty ()->SetInterpolationToFlat (); + actor->GetProperty ()->BackfaceCullingOn (); + actor->SetMapper (mapper); + + WidgetAccessor::setProp(*this, actor); +} + +cv::viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color) +{ + Mat cloud = _cloud.getMat(); + CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); + + + vtkIdType nr_points; + vtkSmartPointer polydata = CreateCloudWidget::create(cloud, nr_points); + + vtkSmartPointer mapper = vtkSmartPointer::New (); + mapper->SetInput (polydata); + + bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ()); + + mapper->SetInterpolateScalarsBeforeMapping (interpolation); + mapper->ScalarVisibilityOff (); + + mapper->ImmediateModeRenderingOff (); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetNumberOfCloudPoints (int (std::max (1, polydata->GetNumberOfPoints () / 10))); + actor->GetProperty ()->SetInterpolationToFlat (); + actor->GetProperty ()->BackfaceCullingOn (); + actor->SetMapper (mapper); + + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::CloudWidget cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} + +/////////////////////////////////////////////////////////////////////////////////////////////// +/// Cloud Normals Widget implementation + +struct cv::viz::CloudNormalsWidget::ApplyCloudNormals +{ + template + struct Impl + { + static vtkSmartPointer applyOrganized(const Mat &cloud, const Mat& normals, double level, float scale, _Tp *&pts, vtkIdType &nr_normals) + { + vtkIdType point_step = static_cast(std::sqrt(level)); + nr_normals = (static_cast ((cloud.cols - 1) / point_step) + 1) * + (static_cast ((cloud.rows - 1) / point_step) + 1); + vtkSmartPointer lines = vtkSmartPointer::New(); + + pts = new _Tp[2 * nr_normals * 3]; + + int cch = cloud.channels(); + vtkIdType cell_count = 0; + for (vtkIdType y = 0; y < cloud.rows; y += point_step) + { + const _Tp *prow = cloud.ptr<_Tp>(y); + const _Tp *nrow = normals.ptr<_Tp>(y); + for (vtkIdType x = 0; x < cloud.cols; x += point_step * cch) + { + pts[2 * cell_count * 3 + 0] = prow[x]; + pts[2 * cell_count * 3 + 1] = prow[x+1]; + pts[2 * cell_count * 3 + 2] = prow[x+2]; + pts[2 * cell_count * 3 + 3] = prow[x] + nrow[x] * scale; + pts[2 * cell_count * 3 + 4] = prow[x+1] + nrow[x+1] * scale; + pts[2 * cell_count * 3 + 5] = prow[x+2] + nrow[x+2] * scale; + + lines->InsertNextCell (2); + lines->InsertCellPoint (2 * cell_count); + lines->InsertCellPoint (2 * cell_count + 1); + cell_count++; + } + } + return lines; + } + + static vtkSmartPointer applyUnorganized(const Mat &cloud, const Mat& normals, int level, float scale, _Tp *&pts, vtkIdType &nr_normals) + { + vtkSmartPointer lines = vtkSmartPointer::New(); + nr_normals = (cloud.size().area() - 1) / level + 1 ; + pts = new _Tp[2 * nr_normals * 3]; + + int cch = cloud.channels(); + const _Tp *p = cloud.ptr<_Tp>(); + const _Tp *n = normals.ptr<_Tp>(); + for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level * cch) + { + + pts[2 * j * 3 + 0] = p[i]; + pts[2 * j * 3 + 1] = p[i+1]; + pts[2 * j * 3 + 2] = p[i+2]; + pts[2 * j * 3 + 3] = p[i] + n[i] * scale; + pts[2 * j * 3 + 4] = p[i+1] + n[i+1] * scale; + pts[2 * j * 3 + 5] = p[i+2] + n[i+2] * scale; + + lines->InsertNextCell (2); + lines->InsertCellPoint (2 * j); + lines->InsertCellPoint (2 * j + 1); + } + return lines; + } + }; + + template + static inline vtkSmartPointer apply(const Mat &cloud, const Mat& normals, int level, float scale, _Tp *&pts, vtkIdType &nr_normals) + { + if (cloud.cols > 1 && cloud.rows > 1) + return ApplyCloudNormals::Impl<_Tp>::applyOrganized(cloud, normals, level, scale, pts, nr_normals); + else + return ApplyCloudNormals::Impl<_Tp>::applyUnorganized(cloud, normals, level, scale, pts, nr_normals); + } +}; + +cv::viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color) +{ + Mat cloud = _cloud.getMat(); + Mat normals = _normals.getMat(); + CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); + CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type()); + + vtkSmartPointer points = vtkSmartPointer::New(); + vtkSmartPointer lines = vtkSmartPointer::New(); + vtkIdType nr_normals = 0; + + if (cloud.depth() == CV_32F) + { + points->SetDataTypeToFloat(); + + vtkSmartPointer data = vtkSmartPointer::New (); + data->SetNumberOfComponents (3); + + float* pts = 0; + lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals); + data->SetArray (&pts[0], 2 * nr_normals * 3, 0); + points->SetData (data); + } + else + { + points->SetDataTypeToDouble(); + + vtkSmartPointer data = vtkSmartPointer::New (); + data->SetNumberOfComponents (3); + + double* pts = 0; + lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals); + data->SetArray (&pts[0], 2 * nr_normals * 3, 0); + points->SetData (data); + } + + vtkSmartPointer polyData = vtkSmartPointer::New(); + polyData->SetPoints (points); + polyData->SetLines (lines); + + vtkSmartPointer mapper = vtkSmartPointer::New (); + mapper->SetInput (polyData); + mapper->SetColorModeToMapScalars(); + mapper->SetScalarModeToUsePointData(); + + vtkSmartPointer actor = vtkSmartPointer::New(); + actor->SetMapper(mapper); + WidgetAccessor::setProp(*this, actor); + setColor(color); +} + +template<> cv::viz::CloudNormalsWidget cv::viz::Widget::cast() +{ + Widget3D widget = this->cast(); + return static_cast(widget); +} diff --git a/modules/viz/src/common.cpp b/modules/viz/src/common.cpp index dc4e53e428..08da19b5d7 100644 --- a/modules/viz/src/common.cpp +++ b/modules/viz/src/common.cpp @@ -1,20 +1,9 @@ #include #include #include +#include "viz3d_impl.hpp" -///////////////////////////////////////////////////////////////////////////////////////////// - -//Eigen::Matrix4d cv::viz::vtkToEigen (vtkMatrix4x4* vtk_matrix) -//{ -// Eigen::Matrix4d eigen_matrix = Eigen::Matrix4d::Identity (); -// for (int i=0; i < 4; i++) -// for (int j=0; j < 4; j++) -// eigen_matrix (i, j) = vtk_matrix->GetElement (i, j); - -// return eigen_matrix; -//} - /////////////////////////////////////////////////////////////////////////////////////////////// //Eigen::Vector2i cv::viz::worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height) //{ diff --git a/modules/viz/src/interactor_style.cpp b/modules/viz/src/interactor_style.cpp index 6c2942c04a..2daec81261 100644 --- a/modules/viz/src/interactor_style.cpp +++ b/modules/viz/src/interactor_style.cpp @@ -222,7 +222,6 @@ cv::viz::InteractorStyle::OnKeyDown () " ALT + s, S : turn stereo mode on/off\n" " ALT + f, F : switch between maximized window mode and original size\n" "\n" - " SHIFT + left click : select a point\n" << std::endl; break; } @@ -676,9 +675,6 @@ void cv::viz::InteractorStyle::OnTimer () } - - - namespace cv { namespace viz @@ -687,4 +683,3 @@ namespace cv vtkStandardNewMacro(InteractorStyle) } } - diff --git a/modules/viz/src/interactor_style.h b/modules/viz/src/interactor_style.h index 04ccb68fbd..db20a1ad9d 100644 --- a/modules/viz/src/interactor_style.h +++ b/modules/viz/src/interactor_style.h @@ -1,15 +1,14 @@ #pragma once #include "viz_types.h" -#include +#include namespace cv { namespace viz { - /** \brief PCLVisualizerInteractorStyle defines an unique, custom VTK - * based interactory style for PCL Visualizer applications. Besides - * defining the rendering style, we also create a list of custom actions + /** \brief InteractorStyle defines an unique, custom VTK based interactory style Viz applications. + * Besides defining the rendering style, we also create a list of custom actions * that are triggered on different keys being pressed: * * - p, P : switch to a point-based representation @@ -28,7 +27,6 @@ namespace cv * - SHIFT + left click : select a point * * \author Radu B. Rusu - * \ingroup visualization */ class InteractorStyle : public vtkInteractorStyleTrackballCamera { @@ -43,41 +41,19 @@ namespace cv static InteractorStyle *New (); - InteractorStyle () {} virtual ~InteractorStyle () {} // this macro defines Superclass, the isA functionality and the safe downcast method - vtkTypeMacro (InteractorStyle, vtkInteractorStyleTrackballCamera); + vtkTypeMacro (InteractorStyle, vtkInteractorStyleTrackballCamera) /** \brief Initialization routine. Must be called before anything else. */ virtual void Initialize (); - /** \brief Pass a pointer to the actor map - * \param[in] actors the actor map that will be used with this style - */ inline void setCloudActorMap (const Ptr& actors) { actors_ = actors; } - - /** \brief Pass a set of renderers to the interactor style. - * \param[in] rens the vtkRendererCollection to use - */ void setRenderer (vtkSmartPointer& ren) { renderer_ = ren; } - - /** \brief Register a callback function for mouse events - * \param[in] ccallback function that will be registered as a callback for a mouse event - * \param[in] cookie for passing user data to callback - */ void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0); - - /** \brief Register a callback function for keyboard events - * \param[in] callback a function that will be registered as a callback for a keyboard event - * \param[in] cookie user data passed to the callback function - */ void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0); - - /** \brief Save the current rendered image to disk, as a PNG screenshot. - * \param[in] file the name of the PNG file - */ void saveScreenshot (const std::string &file); /** \brief Change the default keyboard modified from ALT to a different special key. @@ -134,24 +110,18 @@ namespace cv /** \brief Interactor style internal method. Gets called periodically if a timer is set. */ virtual void OnTimer (); - void zoomIn (); void zoomOut (); /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */ bool stereo_anaglyph_mask_default_; - /** \brief The keyboard modifier to use. Default: Alt. */ KeyboardModifier modifier_; - /** \brief KeyboardEvent callback function pointer*/ void (*keyboardCallback_)(const KeyboardEvent&, void*); - /** \brief KeyboardEvent callback user data*/ void *keyboard_callback_cookie_; - /** \brief MouseEvent callback function pointer */ void (*mouseCallback_)(const MouseEvent&, void*); - /** \brief MouseEvent callback user data */ void *mouse_callback_cookie_; }; } diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp index d6976f7793..bff8cedc8b 100644 --- a/modules/viz/src/precomp.hpp +++ b/modules/viz/src/precomp.hpp @@ -156,7 +156,6 @@ #include #include #include "opencv2/viz/widget_accessor.hpp" -#include namespace cv { diff --git a/modules/viz/src/simple_widgets.cpp b/modules/viz/src/shape_widgets.cpp similarity index 60% rename from modules/viz/src/simple_widgets.cpp rename to modules/viz/src/shape_widgets.cpp index 28d4a9edc6..d0e1d7c3ab 100644 --- a/modules/viz/src/simple_widgets.cpp +++ b/modules/viz/src/shape_widgets.cpp @@ -423,6 +423,7 @@ cv::viz::GridWidget::GridWidget(Vec2i dimensions, Vec2d spacing, const Color &co // Show it as wireframe actor->GetProperty ()->SetRepresentationToWireframe (); WidgetAccessor::setProp(*this, actor); + setColor(color); } template<> cv::viz::GridWidget cv::viz::Widget::cast() @@ -524,316 +525,3 @@ cv::String cv::viz::TextWidget::getText() const CV_Assert(actor); return actor->GetInput(); } - -/////////////////////////////////////////////////////////////////////////////////////////////// -/// point cloud widget implementation - -struct cv::viz::CloudWidget::CreateCloudWidget -{ - static inline vtkSmartPointer create(const Mat &cloud, vtkIdType &nr_points) - { - vtkSmartPointer polydata = vtkSmartPointer::New (); - vtkSmartPointer vertices = vtkSmartPointer::New (); - - polydata->SetVerts (vertices); - - vtkSmartPointer points = polydata->GetPoints(); - vtkSmartPointer initcells; - nr_points = cloud.total(); - - if (!points) - { - points = vtkSmartPointer::New (); - if (cloud.depth() == CV_32F) - points->SetDataTypeToFloat(); - else if (cloud.depth() == CV_64F) - points->SetDataTypeToDouble(); - polydata->SetPoints (points); - } - points->SetNumberOfPoints (nr_points); - - if (cloud.depth() == CV_32F) - { - // Get a pointer to the beginning of the data array - Vec3f *data_beg = vtkpoints_data(points); - Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud); - nr_points = data_end - data_beg; - } - else if (cloud.depth() == CV_64F) - { - // Get a pointer to the beginning of the data array - Vec3d *data_beg = vtkpoints_data(points); - Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud); - nr_points = data_end - data_beg; - } - points->SetNumberOfPoints (nr_points); - - // Update cells - vtkSmartPointer cells = vertices->GetData (); - // If no init cells and cells has not been initialized... - if (!cells) - cells = vtkSmartPointer::New (); - - // If we have less values then we need to recreate the array - if (cells->GetNumberOfTuples () < nr_points) - { - cells = vtkSmartPointer::New (); - - // If init cells is given, and there's enough data in it, use it - if (initcells && initcells->GetNumberOfTuples () >= nr_points) - { - cells->DeepCopy (initcells); - cells->SetNumberOfComponents (2); - cells->SetNumberOfTuples (nr_points); - } - else - { - // If the number of tuples is still too small, we need to recreate the array - cells->SetNumberOfComponents (2); - cells->SetNumberOfTuples (nr_points); - vtkIdType *cell = cells->GetPointer (0); - // Fill it with 1s - std::fill_n (cell, nr_points * 2, 1); - cell++; - for (vtkIdType i = 0; i < nr_points; ++i, cell += 2) - *cell = i; - // Save the results in initcells - initcells = vtkSmartPointer::New (); - initcells->DeepCopy (cells); - } - } - else - { - // The assumption here is that the current set of cells has more data than needed - cells->SetNumberOfComponents (2); - cells->SetNumberOfTuples (nr_points); - } - - // Set the cells and the vertices - vertices->SetCells (nr_points, cells); - return polydata; - } -}; - -cv::viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors) -{ - Mat cloud = _cloud.getMat(); - Mat colors = _colors.getMat(); - CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); - CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size()); - - if (cloud.isContinuous() && colors.isContinuous()) - { - cloud.reshape(cloud.channels(), 1); - colors.reshape(colors.channels(), 1); - } - - vtkIdType nr_points; - vtkSmartPointer polydata = CreateCloudWidget::create(cloud, nr_points); - - // Filter colors - Vec3b* colors_data = new Vec3b[nr_points]; - NanFilter::copy(colors, colors_data, cloud); - - vtkSmartPointer scalars = vtkSmartPointer::New (); - scalars->SetNumberOfComponents (3); - scalars->SetNumberOfTuples (nr_points); - scalars->SetArray (colors_data->val, 3 * nr_points, 0); - - // Assign the colors - polydata->GetPointData ()->SetScalars (scalars); - - vtkSmartPointer mapper = vtkSmartPointer::New (); - mapper->SetInput (polydata); - - Vec3d minmax(scalars->GetRange()); - mapper->SetScalarRange(minmax.val); - mapper->SetScalarModeToUsePointData (); - - bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ()); - - mapper->SetInterpolateScalarsBeforeMapping (interpolation); - mapper->ScalarVisibilityOn (); - - mapper->ImmediateModeRenderingOff (); - - vtkSmartPointer actor = vtkSmartPointer::New(); - actor->SetNumberOfCloudPoints (int (std::max (1, polydata->GetNumberOfPoints () / 10))); - actor->GetProperty ()->SetInterpolationToFlat (); - actor->GetProperty ()->BackfaceCullingOn (); - actor->SetMapper (mapper); - - WidgetAccessor::setProp(*this, actor); -} - -cv::viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color) -{ - Mat cloud = _cloud.getMat(); - CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); - - - vtkIdType nr_points; - vtkSmartPointer polydata = CreateCloudWidget::create(cloud, nr_points); - - vtkSmartPointer mapper = vtkSmartPointer::New (); - mapper->SetInput (polydata); - - bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ()); - - mapper->SetInterpolateScalarsBeforeMapping (interpolation); - mapper->ScalarVisibilityOff (); - - mapper->ImmediateModeRenderingOff (); - - vtkSmartPointer actor = vtkSmartPointer::New(); - actor->SetNumberOfCloudPoints (int (std::max (1, polydata->GetNumberOfPoints () / 10))); - actor->GetProperty ()->SetInterpolationToFlat (); - actor->GetProperty ()->BackfaceCullingOn (); - actor->SetMapper (mapper); - - WidgetAccessor::setProp(*this, actor); - setColor(color); -} - -template<> cv::viz::CloudWidget cv::viz::Widget::cast() -{ - Widget3D widget = this->cast(); - return static_cast(widget); -} - -/////////////////////////////////////////////////////////////////////////////////////////////// -/// cloud normals widget implementation - -struct cv::viz::CloudNormalsWidget::ApplyCloudNormals -{ - template - struct Impl - { - static vtkSmartPointer applyOrganized(const Mat &cloud, const Mat& normals, double level, float scale, _Tp *&pts, vtkIdType &nr_normals) - { - vtkIdType point_step = static_cast(std::sqrt(level)); - nr_normals = (static_cast ((cloud.cols - 1) / point_step) + 1) * - (static_cast ((cloud.rows - 1) / point_step) + 1); - vtkSmartPointer lines = vtkSmartPointer::New(); - - pts = new _Tp[2 * nr_normals * 3]; - - int cch = cloud.channels(); - vtkIdType cell_count = 0; - for (vtkIdType y = 0; y < cloud.rows; y += point_step) - { - const _Tp *prow = cloud.ptr<_Tp>(y); - const _Tp *nrow = normals.ptr<_Tp>(y); - for (vtkIdType x = 0; x < cloud.cols; x += point_step * cch) - { - pts[2 * cell_count * 3 + 0] = prow[x]; - pts[2 * cell_count * 3 + 1] = prow[x+1]; - pts[2 * cell_count * 3 + 2] = prow[x+2]; - pts[2 * cell_count * 3 + 3] = prow[x] + nrow[x] * scale; - pts[2 * cell_count * 3 + 4] = prow[x+1] + nrow[x+1] * scale; - pts[2 * cell_count * 3 + 5] = prow[x+2] + nrow[x+2] * scale; - - lines->InsertNextCell (2); - lines->InsertCellPoint (2 * cell_count); - lines->InsertCellPoint (2 * cell_count + 1); - cell_count++; - } - } - return lines; - } - - static vtkSmartPointer applyUnorganized(const Mat &cloud, const Mat& normals, int level, float scale, _Tp *&pts, vtkIdType &nr_normals) - { - vtkSmartPointer lines = vtkSmartPointer::New(); - nr_normals = (cloud.size().area() - 1) / level + 1 ; - pts = new _Tp[2 * nr_normals * 3]; - - int cch = cloud.channels(); - const _Tp *p = cloud.ptr<_Tp>(); - const _Tp *n = normals.ptr<_Tp>(); - for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level * cch) - { - - pts[2 * j * 3 + 0] = p[i]; - pts[2 * j * 3 + 1] = p[i+1]; - pts[2 * j * 3 + 2] = p[i+2]; - pts[2 * j * 3 + 3] = p[i] + n[i] * scale; - pts[2 * j * 3 + 4] = p[i+1] + n[i+1] * scale; - pts[2 * j * 3 + 5] = p[i+2] + n[i+2] * scale; - - lines->InsertNextCell (2); - lines->InsertCellPoint (2 * j); - lines->InsertCellPoint (2 * j + 1); - } - return lines; - } - }; - - template - static inline vtkSmartPointer apply(const Mat &cloud, const Mat& normals, int level, float scale, _Tp *&pts, vtkIdType &nr_normals) - { - if (cloud.cols > 1 && cloud.rows > 1) - return ApplyCloudNormals::Impl<_Tp>::applyOrganized(cloud, normals, level, scale, pts, nr_normals); - else - return ApplyCloudNormals::Impl<_Tp>::applyUnorganized(cloud, normals, level, scale, pts, nr_normals); - } -}; - -cv::viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color) -{ - Mat cloud = _cloud.getMat(); - Mat normals = _normals.getMat(); - CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); - CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type()); - - vtkSmartPointer points = vtkSmartPointer::New(); - vtkSmartPointer lines = vtkSmartPointer::New(); - vtkIdType nr_normals = 0; - - if (cloud.depth() == CV_32F) - { - points->SetDataTypeToFloat(); - - vtkSmartPointer data = vtkSmartPointer::New (); - data->SetNumberOfComponents (3); - - float* pts = 0; - lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals); - data->SetArray (&pts[0], 2 * nr_normals * 3, 0); - points->SetData (data); - } - else - { - points->SetDataTypeToDouble(); - - vtkSmartPointer data = vtkSmartPointer::New (); - data->SetNumberOfComponents (3); - - double* pts = 0; - lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals); - data->SetArray (&pts[0], 2 * nr_normals * 3, 0); - points->SetData (data); - } - - vtkSmartPointer polyData = vtkSmartPointer::New(); - polyData->SetPoints (points); - polyData->SetLines (lines); - - vtkSmartPointer mapper = vtkSmartPointer::New (); - mapper->SetInput (polyData); - mapper->SetColorModeToMapScalars(); - mapper->SetScalarModeToUsePointData(); - - vtkSmartPointer actor = vtkSmartPointer::New(); - actor->SetMapper(mapper); - WidgetAccessor::setProp(*this, actor); - setColor(color); -} - -template<> cv::viz::CloudNormalsWidget cv::viz::Widget::cast() -{ - Widget3D widget = this->cast(); - return static_cast(widget); -} - - diff --git a/modules/viz/src/types.cpp b/modules/viz/src/types.cpp index 38a284cb04..fb277963aa 100644 --- a/modules/viz/src/types.cpp +++ b/modules/viz/src/types.cpp @@ -20,3 +20,42 @@ cv::viz::Color cv::viz::Color::white() { return Color(255, 255, 255); } cv::viz::Color cv::viz::Color::gray() { return Color(128, 128, 128); } +//////////////////////////////////////////////////////////////////// +/// cv::viz::KeyboardEvent + +cv::viz::KeyboardEvent::KeyboardEvent (bool _action, const std::string& _key_sym, unsigned char key, bool alt, bool ctrl, bool shift) + : action_ (_action), modifiers_ (0), key_code_(key), key_sym_ (_key_sym) +{ + if (alt) + modifiers_ = Alt; + + if (ctrl) + modifiers_ |= Ctrl; + + if (shift) + modifiers_ |= Shift; +} + +bool cv::viz::KeyboardEvent::isAltPressed () const { return (modifiers_ & Alt) != 0; } +bool cv::viz::KeyboardEvent::isCtrlPressed () const { return (modifiers_ & Ctrl) != 0; } +bool cv::viz::KeyboardEvent::isShiftPressed () const { return (modifiers_ & Shift) != 0; } +unsigned char cv::viz::KeyboardEvent::getKeyCode () const { return key_code_; } +const cv::String& cv::viz::KeyboardEvent::getKeySym () const { return key_sym_; } +bool cv::viz::KeyboardEvent::keyDown () const { return action_; } +bool cv::viz::KeyboardEvent::keyUp () const { return !action_; } + +//////////////////////////////////////////////////////////////////// +/// cv::viz::MouseEvent + +cv::viz::MouseEvent::MouseEvent (const Type& _type, const MouseButton& _button, const Point& _p, bool alt, bool ctrl, bool shift) + : type(_type), button(_button), pointer(_p), key_state(0) +{ + if (alt) + key_state = KeyboardEvent::Alt; + + if (ctrl) + key_state |= KeyboardEvent::Ctrl; + + if (shift) + key_state |= KeyboardEvent::Shift; +} diff --git a/modules/viz/src/viz3d.cpp b/modules/viz/src/viz3d.cpp index 5307621874..f4a300b212 100644 --- a/modules/viz/src/viz3d.cpp +++ b/modules/viz/src/viz3d.cpp @@ -2,20 +2,10 @@ #include "viz3d_impl.hpp" -cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(new VizImpl(window_name)) -{ - -} +cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(new VizImpl(window_name)) {} +cv::viz::Viz3d::~Viz3d() { delete impl_; } -cv::viz::Viz3d::~Viz3d() -{ - delete impl_; -} - -void cv::viz::Viz3d::setBackgroundColor(const Color& color) -{ - impl_->setBackgroundColor(color); -} +void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); } bool cv::viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id) { @@ -37,54 +27,21 @@ bool cv::viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const Stri return impl_->addPolygon(cloud, color, id); } -void cv::viz::Viz3d::spin() -{ - impl_->spin(); -} - -void cv::viz::Viz3d::spinOnce (int time, bool force_redraw) -{ - impl_->spinOnce(time, force_redraw); -} - -void cv::viz::Viz3d::registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie) -{ - impl_->registerKeyboardCallback(callback, cookie); -} - -void cv::viz::Viz3d::registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie) -{ - impl_->registerMouseCallback(callback, cookie); -} - +void cv::viz::Viz3d::spin() { impl_->spin(); } +void cv::viz::Viz3d::spinOnce (int time, bool force_redraw) { impl_->spinOnce(time, force_redraw); } bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); } -void cv::viz::Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose) -{ - impl_->showWidget(id, widget, pose); -} - -void cv::viz::Viz3d::removeWidget(const String &id) -{ - impl_->removeWidget(id); -} +void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* cookie) +{ impl_->registerKeyboardCallback(callback, cookie); } -cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const -{ - return impl_->getWidget(id); -} +void cv::viz::Viz3d::registerMouseCallback(MouseCallback callback, void* cookie) +{ impl_->registerMouseCallback(callback, cookie); } -void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) -{ - impl_->setWidgetPose(id, pose); -} -void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) -{ - impl_->updateWidgetPose(id, pose); -} -cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const -{ - return impl_->getWidgetPose(id); -} +void cv::viz::Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose) { impl_->showWidget(id, widget, pose); } +void cv::viz::Viz3d::removeWidget(const String &id) { impl_->removeWidget(id); } +cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const { return impl_->getWidget(id); } +void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) { impl_->setWidgetPose(id, pose); } +void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) { impl_->updateWidgetPose(id, pose); } +cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); } diff --git a/modules/viz/src/viz_main.cpp b/modules/viz/src/viz3d_impl.cpp similarity index 98% rename from modules/viz/src/viz_main.cpp rename to modules/viz/src/viz3d_impl.cpp index 1a8be1dd9c..eab5282245 100644 --- a/modules/viz/src/viz_main.cpp +++ b/modules/viz/src/viz3d_impl.cpp @@ -1,6 +1,4 @@ #include "precomp.hpp" - -#include #include "viz3d_impl.hpp" #include @@ -95,16 +93,11 @@ cv::viz::Viz3d::VizImpl::~VizImpl () void cv::viz::Viz3d::VizImpl::saveScreenshot (const std::string &file) { style_->saveScreenshot (file); } ///////////////////////////////////////////////////////////////////////////////////////////// -void cv::viz::Viz3d::VizImpl::registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie) -{ - style_->registerMouseCallback(callback, cookie); -} +void cv::viz::Viz3d::VizImpl::registerMouseCallback(MouseCallback callback, void* cookie) +{ style_->registerMouseCallback(callback, cookie); } -///////////////////////////////////////////////////////////////////////////////////////////// -void cv::viz::Viz3d::VizImpl::registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie) -{ - style_->registerKeyboardCallback(callback, cookie); -} +void cv::viz::Viz3d::VizImpl::registerKeyboardCallback(KeyboardCallback callback, void* cookie) +{ style_->registerKeyboardCallback(callback, cookie); } ///////////////////////////////////////////////////////////////////////////////////////////// void cv::viz::Viz3d::VizImpl::spin () @@ -1018,13 +1011,6 @@ void cv::viz::convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Qu vtk_matrix->SetElement (3, 3, 1.0f); } -void cv::viz::convertToVtkMatrix (const Matx44f &m, vtkSmartPointer &vtk_matrix) -{ - for (int i = 0; i < 4; i++) - for (int k = 0; k < 4; k++) - vtk_matrix->SetElement (i, k, m (i, k)); -} - vtkSmartPointer cv::viz::convertToVtkMatrix (const cv::Matx44f &m) { vtkSmartPointer vtk_matrix = vtkSmartPointer::New(); @@ -1034,14 +1020,6 @@ vtkSmartPointer cv::viz::convertToVtkMatrix (const cv::Matx44f &m) return vtk_matrix; } -void cv::viz::convertToCvMatrix (const vtkSmartPointer &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); -} - - cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer& vtk_matrix) { cv::Matx44f m; @@ -1052,13 +1030,6 @@ cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer& vtk_matr } ////////////////////////////////////////////////////////////////////////////////////////////// -void cv::viz::convertToEigenMatrix (const vtkSmartPointer &vtk_matrix, Eigen::Matrix4f &m) -{ - for (int i = 0; i < 4; i++) - for (int k = 0; k < 4; k++) - m (i,k) = static_cast (vtk_matrix->GetElement (i, k)); -} - void cv::viz::Viz3d::VizImpl::setFullScreen (bool mode) { diff --git a/modules/viz/src/viz3d_impl.hpp b/modules/viz/src/viz3d_impl.hpp index 4578a65d46..3f86a86431 100644 --- a/modules/viz/src/viz3d_impl.hpp +++ b/modules/viz/src/viz3d_impl.hpp @@ -1,28 +1,25 @@ #pragma once -#include -#include +#include #include "interactor_style.h" #include "viz_types.h" #include "common.h" -#include -#include -#include - struct cv::viz::Viz3d::VizImpl { public: typedef cv::Ptr Ptr; + typedef Viz3d::KeyboardCallback KeyboardCallback; + typedef Viz3d::MouseCallback MouseCallback; - VizImpl (const String &name = String()); + VizImpl (const String &name); virtual ~VizImpl (); void setFullScreen (bool mode); void setWindowName (const String &name); - void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie = 0); - void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0); + 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); @@ -173,9 +170,7 @@ public: void setWidgetPose(const String &id, const Affine3f &pose); void updateWidgetPose(const String &id, const Affine3f &pose); - Affine3f getWidgetPose(const String &id) const; - - void all_data(); + Affine3f getWidgetPose(const String &id) const; private: vtkSmartPointer interactor_; @@ -285,12 +280,6 @@ namespace cv namespace viz { //void getTransformationMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternionf& orientation, Eigen::Matrix4f &transformation); - - //void convertToVtkMatrix (const Eigen::Matrix4f &m, vtkSmartPointer &vtk_matrix); - - void convertToVtkMatrix (const cv::Matx44f& m, vtkSmartPointer &vtk_matrix); - void convertToCvMatrix (const vtkSmartPointer &vtk_matrix, cv::Matx44f &m); - vtkSmartPointer convertToVtkMatrix (const cv::Matx44f &m); cv::Matx44f convertToMatx(const vtkSmartPointer& vtk_matrix); @@ -300,8 +289,6 @@ namespace cv * \param[out] vtk_matrix the resultant VTK 4x4 matrix */ void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion &orientation, vtkSmartPointer &vtk_matrix); - void convertToEigenMatrix (const vtkSmartPointer &vtk_matrix, Eigen::Matrix4f &m); - struct NanFilter { @@ -366,6 +353,17 @@ namespace cv ApplyAffine(const ApplyAffine&); ApplyAffine& operator=(const ApplyAffine&); }; + + + inline Color vtkcolor(const Color& color) + { + Color scaled_color = color * (1.0/255.0); + std::swap(scaled_color[0], scaled_color[2]); + return scaled_color; + } + + inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); } + template inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); } } } -- 2.34.1