1 /*M///////////////////////////////////////////////////////////////////////////////////////
2 //
3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
4 //
5 // By downloading, copying, installing or using the software you agree to this license.
6 // If you do not agree to this license, do not download, install,
7 // copy or use the software.
8 //
9 //
10 // License Agreement
11 // For Open Source Computer Vision Library
12 //
13 // Copyright (C) 2013, OpenCV Foundation, all rights reserved.
14 // Third party copyrights are property of their respective owners.
15 //
16 // Redistribution and use in source and binary forms, with or without modification,
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20 // this list of conditions and the following disclaimer.
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22 // * Redistribution's in binary form must reproduce the above copyright notice,
23 // this list of conditions and the following disclaimer in the documentation
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25 //
26 // * The name of the copyright holders may not be used to endorse or promote products
27 // derived from this software without specific prior written permission.
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39 //
40 // Authors:
41 // * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
42 //
43 //M*/
44
45 #include "precomp.hpp"
46
47 namespace cv { namespace viz
48 {
49 vtkStandardNewMacro(vtkTrajectorySource);
50 }}
51
vtkTrajectorySource()52 cv::viz::vtkTrajectorySource::vtkTrajectorySource() { SetNumberOfInputPorts(0); }
~vtkTrajectorySource()53 cv::viz::vtkTrajectorySource::~vtkTrajectorySource() {}
54
SetTrajectory(InputArray _traj)55 void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj)
56 {
57 CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
58 CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
59
60 Mat traj;
61 _traj.getMat().convertTo(traj, CV_64F);
62 const Affine3d* dpath = traj.ptr<Affine3d>();
63 size_t total = traj.total();
64
65 points = vtkSmartPointer<vtkPoints>::New();
66 points->SetDataType(VTK_DOUBLE);
67 points->SetNumberOfPoints((vtkIdType)total);
68
69 tensors = vtkSmartPointer<vtkDoubleArray>::New();
70 tensors->SetNumberOfComponents(9);
71 tensors->SetNumberOfTuples((vtkIdType)total);
72
73 for(size_t i = 0; i < total; ++i, ++dpath)
74 {
75 Matx33d R = dpath->rotation().t(); // transposed because of
76 tensors->SetTuple((vtkIdType)i, R.val); // column major order
77
78 Vec3d p = dpath->translation();
79 points->SetPoint((vtkIdType)i, p.val);
80 }
81 }
82
ExtractPoints(InputArray _traj)83 cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj)
84 {
85 CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
86 CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
87
88 Mat points(1, (int)_traj.total(), CV_MAKETYPE(_traj.depth(), 3));
89 const Affine3d* dpath = _traj.getMat().ptr<Affine3d>();
90 const Affine3f* fpath = _traj.getMat().ptr<Affine3f>();
91
92 if (_traj.depth() == CV_32F)
93 for(int i = 0; i < points.cols; ++i)
94 points.at<Vec3f>(i) = fpath[i].translation();
95
96 if (_traj.depth() == CV_64F)
97 for(int i = 0; i < points.cols; ++i)
98 points.at<Vec3d>(i) = dpath[i].translation();
99
100 return points;
101 }
102
RequestData(vtkInformation * vtkNotUsed (request),vtkInformationVector ** vtkNotUsed (inputVector),vtkInformationVector * outputVector)103 int cv::viz::vtkTrajectorySource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
104 {
105 vtkInformation *outInfo = outputVector->GetInformationObject(0);
106 vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));
107 output->SetPoints(points);
108 output->GetPointData()->SetTensors(tensors);
109 return 1;
110 }
111