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提交 56819eaf 编写于 作者: A Anatoly Baksheev
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switched completer API to doubles, updated docs

上级 d2644654
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Showing with 119 addition and 120 deletion
modules/viz/doc/widget.rst
浏览文件 @ 56819eaf
......@@ -262,8 +262,8 @@ This 3D Widget defines a finite plane. ::
class CV_EXPORTS WPlane : public Widget3D
{
public:
WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white());
WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white());
WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white());
WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
private:
/* hidden */
};
......@@ -272,13 +272,13 @@ viz::WPlane::WPlane
-------------------
Constructs a WPlane.
.. ocv:function:: WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white())
.. ocv:function:: WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white())
:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param size: Size of the plane.
:param color: :ocv:class:`Color` of the plane.
.. ocv:function:: WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white())
.. ocv:function:: WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param pt: Position of the plane.
......@@ -294,14 +294,14 @@ This 3D Widget defines a sphere. ::
class CV_EXPORTS WSphere : public Widget3D
{
public:
WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
WSphere(const cv::Point3f &center, double radius, int sphere_resolution = 10, const Color &color = Color::white())
};
viz::WSphere::WSphere
---------------------
Constructs a WSphere.
.. ocv:function:: WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
.. ocv:function:: WSphere(const cv::Point3f &center, double radius, int sphere_resolution = 10, const Color &color = Color::white())
:param center: Center of the sphere.
:param radius: Radius of the sphere.
......@@ -317,14 +317,14 @@ This 3D Widget defines an arrow. ::
class CV_EXPORTS WArrow : public Widget3D
{
public:
WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white());
WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
};
viz::WArrow::WArrow
-----------------------------
Constructs an WArrow.
.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white())
.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
:param pt1: Start point of the arrow.
:param pt2: End point of the arrow.
......@@ -342,14 +342,14 @@ This 3D Widget defines a circle. ::
class CV_EXPORTS WCircle : public Widget3D
{
public:
WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white());
WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
};
viz::WCircle::WCircle
-------------------------------
Constructs a WCircle.
.. ocv:function:: WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white())
.. ocv:function:: WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
:param pt: Center of the circle.
:param radius: Radius of the circle.
......@@ -365,14 +365,14 @@ This 3D Widget defines a cylinder. ::
class CV_EXPORTS WCylinder : public Widget3D
{
public:
WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
};
viz::WCylinder::WCylinder
-----------------------------------
Constructs a WCylinder.
.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white())
.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white())
:param pt_on_axis: A point on the axis of the cylinder.
:param axis_direction: Direction of the axis of the cylinder.
......@@ -416,14 +416,14 @@ This 3D Widget represents a coordinate system. ::
class CV_EXPORTS WCoordinateSystem : public Widget3D
{
public:
WCoordinateSystem(float scale = 1.0);
WCoordinateSystem(double scale = 1.0);
};
viz::WCoordinateSystem::WCoordinateSystem
---------------------------------------------------
Constructs a WCoordinateSystem.
.. ocv:function:: WCoordinateSystem(float scale = 1.0)
.. ocv:function:: WCoordinateSystem(double scale = 1.0)
:param scale: Determines the size of the axes.
......@@ -463,7 +463,7 @@ This 3D Widget defines a grid. ::
//! Creates grid at the origin
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation
WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
private:
/* hidden */
};
......@@ -478,7 +478,7 @@ Constructs a WGrid.
:param spacing: Size of each column and row, respectively.
:param color: :ocv:class:`Color` of the grid.
.. ocv:function: WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
.. ocv:function: WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
:param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param dimensions: Number of columns and rows, respectively.
......@@ -494,7 +494,7 @@ This 3D Widget represents 3D text. The text always faces the camera. ::
class CV_EXPORTS WText3D : public Widget3D
{
public:
WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white());
WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
......@@ -504,7 +504,7 @@ viz::WText3D::WText3D
-------------------------------
Constructs a WText3D.
.. ocv:function:: WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white())
.. ocv:function:: WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white())
:param text: Text content of the widget.
:param position: Position of the text.
......@@ -609,7 +609,7 @@ This 3D Widget represents an image in 3D space. ::
//! Creates 3D image at the origin
WImage3D(const Mat &image, const Size &size);
//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size);
void setImage(const Mat &image);
};
......@@ -623,7 +623,7 @@ Constructs an WImage3D.
:param image: BGR or Gray-Scale image.
:param size: Size of the image.
.. ocv:function:: WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
.. ocv:function:: WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
:param position: Position of the image.
:param normal: Normal of the plane that represents the image.
......@@ -649,15 +649,15 @@ This 3D Widget represents camera position in a scene by its axes or viewing frus
{
public:
//! Creates camera coordinate frame (axes) at the origin
WCameraPosition(float scale = 1.0);
WCameraPosition(double scale = 1.0);
//! Creates frustum based on the intrinsic marix K at the origin
WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum based on the field of view at the origin
WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white());
WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white());
WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
};
viz::WCameraPosition::WCameraPosition
......@@ -666,7 +666,7 @@ Constructs a WCameraPosition.
- **Display camera coordinate frame.**
.. ocv:function:: WCameraPosition(float scale = 1.0)
.. ocv:function:: WCameraPosition(double scale = 1.0)
Creates camera coordinate frame at the origin.
......@@ -676,7 +676,7 @@ Constructs a WCameraPosition.
- **Display the viewing frustum.**
.. ocv:function:: WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
.. ocv:function:: WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
:param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustum.
......@@ -684,7 +684,7 @@ Constructs a WCameraPosition.
Creates viewing frustum of the camera based on its intrinsic matrix K.
.. ocv:function:: WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
.. ocv:function:: WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustum.
......@@ -698,7 +698,7 @@ Constructs a WCameraPosition.
- **Display image on the far plane of the viewing frustum.**
.. ocv:function:: WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white())
.. ocv:function:: WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
:param K: Intrinsic matrix of the camera.
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
......@@ -707,7 +707,7 @@ Constructs a WCameraPosition.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
.. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white())
.. ocv:function:: WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical).
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
......@@ -732,14 +732,14 @@ This 3D Widget represents a trajectory. ::
enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH};
//! Displays trajectory of the given path either by coordinate frames or polyline
WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white(),;
WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white(),;
};
viz::WTrajectory::WTrajectory
-----------------------------
Constructs a WTrajectory.
.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white())
.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white())
:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
:param display_mode: Display mode. This can be PATH, FRAMES, and BOTH.
......@@ -762,16 +762,16 @@ This 3D Widget represents a trajectory. ::
{
public:
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
};
viz::WTrajectoryFrustums::WTrajectoryFrustums
-----------------------------
Constructs a WTrajectoryFrustums.
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
:param path: List of poses on a trajectory.
:param K: Intrinsic matrix of the camera.
......@@ -780,7 +780,7 @@ Constructs a WTrajectoryFrustums.
Displays frustums at each pose of the trajectory.
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
:param path: List of poses on a trajectory.
:param fov: Field of view of the camera (horizontal, vertical).
......@@ -799,8 +799,8 @@ represent the direction from previous position to the current. ::
class CV_EXPORTS WTrajectorySpheres : public Widget3D
{
public:
WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f,
float init_sphere_radius = 0.021, sphere_radius = 0.007,
WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f,
double init_sphere_radius = 0.021, sphere_radius = 0.007,
Color &line_color = Color::white(), const Color &sphere_color = Color::white());
};
......@@ -808,7 +808,7 @@ viz::WTrajectorySpheres::WTrajectorySpheres
-------------------------------------------
Constructs a WTrajectorySpheres.
.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f, double init_sphere_radius = 0.021, double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
:param path: List of poses on a trajectory.
:param line_length: Length of the lines.
......@@ -912,7 +912,7 @@ This 3D Widget represents normals of a point cloud. ::
class CV_EXPORTS WCloudNormals : public Widget3D
{
public:
WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white());
private:
/* hidden */
......@@ -922,7 +922,7 @@ viz::WCloudNormals::WCloudNormals
---------------------------------
Constructs a WCloudNormals.
.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white())
.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white())
:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
:param normals: A set of normals that has to be of same type with cloud.
......
modules/viz/include/opencv2/viz/widgets.hpp
浏览文件 @ 56819eaf
......@@ -135,44 +135,44 @@ namespace cv
class CV_EXPORTS WLine : public Widget3D
{
public:
WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white());
};
class CV_EXPORTS WPlane : public Widget3D
{
public:
WPlane(const Vec4f& coefs, float size = 1.f, const Color &color = Color::white());
WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.f, const Color &color = Color::white());
WPlane(const Vec4d& coefs, double size = 1.f, const Color &color = Color::white());
WPlane(const Vec4d& coefs, const Point3d& pt, double size = 1.f, const Color &color = Color::white());
};
class CV_EXPORTS WSphere : public Widget3D
{
public:
WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
WSphere(const cv::Point3d &center, double radius, int sphere_resolution = 10, const Color &color = Color::white());
};
class CV_EXPORTS WArrow : public Widget3D
{
public:
WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03f, const Color &color = Color::white());
WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white());
};
class CV_EXPORTS WCircle : public Widget3D
{
public:
WCircle(const Point3f& pt, float radius, float thickness = 0.01f, const Color &color = Color::white());
WCircle(const Point3d& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
};
class CV_EXPORTS WCylinder : public Widget3D
{
public:
WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
WCylinder(const Point3d& pt_on_axis, const Point3d& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
};
class CV_EXPORTS WCube : public Widget3D
{
public:
WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
WCube(const Point3d& pt_min, const Point3d& pt_max, bool wire_frame = true, const Color &color = Color::white());
};
class CV_EXPORTS WPolyLine : public Widget3D
......@@ -196,7 +196,7 @@ namespace cv
class CV_EXPORTS WText3D : public Widget3D
{
public:
WText3D(const String &text, const Point3f &position, float text_scale = 1.f, bool face_camera = true, const Color &color = Color::white());
WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
......@@ -216,7 +216,7 @@ namespace cv
//! Creates 3D image at the origin
WImage3D(const Mat &image, const Size &size);
//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size);
void setImage(const Mat &image);
};
......@@ -234,24 +234,24 @@ namespace cv
{
public:
//! Creates grid at the origin
WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color = Color::white());
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation
WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2f &spacing, const Color &color = Color::white());
WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
};
class CV_EXPORTS WCameraPosition : public Widget3D
{
public:
//! Creates camera coordinate frame (axes) at the origin
WCameraPosition(float scale = 1.f);
WCameraPosition(double scale = 1.0);
//! Creates frustum based on the intrinsic marix K at the origin
WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum based on the field of view at the origin
WCameraPosition(const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white());
WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
......@@ -270,16 +270,16 @@ namespace cv
{
public:
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
//! Displays trajectory of the given path by frustums
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
};
class CV_EXPORTS WTrajectorySpheres: public Widget3D
{
public:
WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f, float init_sphere_radius = 0.021f,
float sphere_radius = 0.007f, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05, double init_sphere_radius = 0.021,
double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
......@@ -308,7 +308,7 @@ namespace cv
class CV_EXPORTS WCloudNormals : public Widget3D
{
public:
WCloudNormals(InputArray cloud, InputArray normals, int level = 64, float scale = 0.1f, const Color &color = Color::white());
WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white());
};
class CV_EXPORTS WMesh : public Widget3D
......
modules/viz/src/clouds.cpp
浏览文件 @ 56819eaf
......@@ -175,7 +175,7 @@ template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollec
///////////////////////////////////////////////////////////////////////////////////////////////
/// Cloud Normals Widget implementation
cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color)
cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, double scale, const Color &color)
{
Mat cloud = _cloud.getMat();
Mat normals = _normals.getMat();
......@@ -207,7 +207,7 @@ cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, in
for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
if (!isNan(srow) && !isNan(nrow))
{
Vec3f endp = Vec3f(srow) + Vec3f(nrow) * scale;
Vec3f endp = Vec3f(srow) + Vec3f(nrow) * (float)scale;
points->InsertNextPoint(srow);
points->InsertNextPoint(endp.val);
......
modules/viz/src/shapes.cpp
浏览文件 @ 56819eaf
......@@ -55,7 +55,7 @@ namespace cv
///////////////////////////////////////////////////////////////////////////////////////////////
/// line widget implementation
cv::viz::WLine::WLine(const Point3f &pt1, const Point3f &pt2, const Color &color)
cv::viz::WLine::WLine(const Point3d &pt1, const Point3d &pt2, const Color &color)
{
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
line->SetPoint1(pt1.x, pt1.y, pt1.z);
......@@ -103,11 +103,11 @@ namespace cv { namespace viz { namespace
};
}}}
cv::viz::WPlane::WPlane(const Vec4f& coefs, float size, const Color &color)
cv::viz::WPlane::WPlane(const Vec4d& coefs, double size, const Color &color)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
plane->SetNormal(coefs[0], coefs[1], coefs[2]);
double norm = cv::norm(Vec3f(coefs.val));
double norm = cv::norm(Vec3d(coefs.val));
plane->Push(-coefs[3] / norm);
Vec3d p_center;
......@@ -123,15 +123,15 @@ cv::viz::WPlane::WPlane(const Vec4f& coefs, float size, const Color &color)
setColor(color);
}
cv::viz::WPlane::WPlane(const Vec4f& coefs, const Point3f& pt, float size, const Color &color)
cv::viz::WPlane::WPlane(const Vec4d& coefs, const Point3d& pt, double size, const Color &color)
{
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
Point3f coefs3(coefs[0], coefs[1], coefs[2]);
Point3d coefs3(coefs[0], coefs[1], coefs[2]);
double norm_sqr = 1.0 / coefs3.dot(coefs3);
plane->SetNormal(coefs[0], coefs[1], coefs[2]);
double t = coefs3.dot(pt) + coefs[3];
Vec3f p_center = pt - coefs3 * t * norm_sqr;
Vec3d p_center = pt - coefs3 * t * norm_sqr;
plane->SetCenter(p_center[0], p_center[1], p_center[2]);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
......@@ -153,7 +153,7 @@ template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// sphere widget implementation
cv::viz::WSphere::WSphere(const Point3f &center, float radius, int sphere_resolution, const Color &color)
cv::viz::WSphere::WSphere(const Point3d &center, double radius, int sphere_resolution, const Color &color)
{
vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New();
sphere->SetRadius(radius);
......@@ -181,7 +181,7 @@ template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// arrow widget implementation
cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, float thickness, const Color &color)
cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness, const Color &color)
{
vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New();
arrowSource->SetShaftRadius(thickness);
......@@ -231,7 +231,7 @@ template<> cv::viz::WArrow cv::viz::Widget::cast<cv::viz::WArrow>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// circle widget implementation
cv::viz::WCircle::WCircle(const Point3f& pt, float radius, float thickness, const Color& color)
cv::viz::WCircle::WCircle(const Point3d& pt, double radius, double thickness, const Color& color)
{
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New();
// Maybe the resolution should be lower e.g. 50 or 25
......@@ -267,9 +267,9 @@ template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation
cv::viz::WCylinder::WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides, const Color &color)
cv::viz::WCylinder::WCylinder(const Point3d& pt_on_axis, const Point3d& axis_direction, double radius, int numsides, const Color &color)
{
const Point3f pt2 = pt_on_axis + axis_direction;
const Point3d pt2 = pt_on_axis + axis_direction;
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
line->SetPoint1(pt_on_axis.x, pt_on_axis.y, pt_on_axis.z);
line->SetPoint2(pt2.x, pt2.y, pt2.z);
......@@ -298,7 +298,7 @@ template<> cv::viz::WCylinder cv::viz::Widget::cast<cv::viz::WCylinder>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation
cv::viz::WCube::WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
cv::viz::WCube::WCube(const Point3d& pt_min, const Point3d& pt_max, bool wire_frame, const Color &color)
{
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
if (wire_frame)
......@@ -330,7 +330,7 @@ template<> cv::viz::WCube cv::viz::Widget::cast<cv::viz::WCube>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// coordinate system widget implementation
cv::viz::WCoordinateSystem::WCoordinateSystem(float scale)
cv::viz::WCoordinateSystem::WCoordinateSystem(double scale)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin(0, 0, 0);
......@@ -461,7 +461,7 @@ namespace cv { namespace viz { namespace
};
}}}
cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
{
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
......@@ -479,14 +479,14 @@ cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color
setColor(color);
}
cv::viz::WGrid::WGrid(const Vec4f &coefs, const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
cv::viz::WGrid::WGrid(const Vec4d &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
{
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
// Estimate the transform to set the normal based on the coefficients
Vec3d normal(coefs[0], coefs[1], coefs[2]);
Vec3d up_vector(0.0, 1.0, 0.0); // Just set as default
double push_distance = -coefs[3]/cv::norm(Vec3f(coefs.val));
double push_distance = -coefs[3]/cv::norm(Vec3d(coefs.val));
Vec3d n = normalize(normal);
Vec3d u = normalize(up_vector.cross(n));
Vec3d v = n.cross(u);
......@@ -525,7 +525,7 @@ template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// text3D widget implementation
cv::viz::WText3D::WText3D(const String &text, const Point3f &position, float text_scale, bool face_camera, const Color &color)
cv::viz::WText3D::WText3D(const String &text, const Point3d &position, double text_scale, bool face_camera, const Color &color)
{
vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New();
textSource->SetText(text.c_str());
......@@ -759,7 +759,7 @@ cv::viz::WImage3D::WImage3D(const Mat &image, const Size &size)
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WImage3D::WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
cv::viz::WImage3D::WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
{
CV_Assert(!image.empty() && image.depth() == CV_8U);
......@@ -857,7 +857,7 @@ namespace cv { namespace viz { namespace
{
struct CameraPositionUtils
{
static void projectImage(float fovy, float far_end_height, const Mat &image,
static void projectImage(double fovy, double far_end_height, const Mat &image,
double scale, const Color &color, vtkSmartPointer<vtkActor> actor)
{
// Create a camera
......@@ -950,7 +950,7 @@ namespace cv { namespace viz { namespace
};
}}}
cv::viz::WCameraPosition::WCameraPosition(float scale)
cv::viz::WCameraPosition::WCameraPosition(double scale)
{
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin(0, 0, 0);
......@@ -992,20 +992,20 @@ cv::viz::WCameraPosition::WCameraPosition(float scale)
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const Color &color)
cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float f_x = K(0,0);
float f_y = K(1,1);
float c_y = K(1,2);
float aspect_ratio = f_y / f_x;
double f_x = K(0,0);
double f_y = K(1,1);
double c_y = K(1,2);
double aspect_ratio = f_y / f_x;
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI;
camera->SetViewAngle(fovy);
camera->SetPosition(0.0,0.0,0.0);
camera->SetViewUp(0.0,1.0,0.0);
camera->SetFocalPoint(0.0,0.0,1.0);
camera->SetPosition(0.0, 0.0, 0.0);
camera->SetViewUp(0.0, 1.0, 0.0);
camera->SetFocalPoint(0.0, 0.0, 1.0);
camera->SetClippingRange(0.01, scale);
double planesArray[24];
......@@ -1014,8 +1014,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const C
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource =
vtkSmartPointer<vtkFrustumSource>::New();
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
......@@ -1034,14 +1033,14 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const C
}
cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, float scale, const Color &color)
cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
camera->SetPosition(0.0,0.0,0.0);
camera->SetViewUp(0.0,1.0,0.0);
camera->SetFocalPoint(0.0,0.0,1.0);
camera->SetPosition(0.0, 0.0, 0.0);
camera->SetViewUp(0.0, 1.0, 0.0);
camera->SetFocalPoint(0.0, 0.0, 1.0);
camera->SetClippingRange(0.01, scale);
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
......@@ -1072,25 +1071,25 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, float scale, const C
setColor(color);
}
cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, const Mat &image, float scale, const Color &color)
cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, const Mat &image, double scale, const Color &color)
{
CV_Assert(!image.empty() && image.depth() == CV_8U);
float f_y = K(1,1);
float c_y = K(1,2);
double f_y = K(1,1);
double c_y = K(1,2);
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
float fovy = 2.0f * atan2(c_y,f_y) * 180.0f / CV_PI;
float far_end_height = 2.0f * c_y * scale / f_y;
double fovy = 2.0 * atan2(c_y,f_y) * 180.0 / CV_PI;
double far_end_height = 2.0f * c_y * scale / f_y;
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor);
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, const Mat &image, float scale, const Color &color)
cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, const Mat &image, double scale, const Color &color)
{
CV_Assert(!image.empty() && image.depth() == CV_8U);
float fovy = fov[1] * 180.0f / CV_PI;
float far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
double fovy = fov[1] * 180.0 / CV_PI;
double far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor);
......@@ -1141,7 +1140,7 @@ namespace cv { namespace viz { namespace
};
}}}
cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, float scale, const Color &color)
cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double scale, const Color &color)
{
CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT);
CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16));
......@@ -1259,15 +1258,15 @@ template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
///////////////////////////////////////////////////////////////////////////////////////////////
/// WTrajectoryFrustums widget implementation
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale, const Color &color)
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float f_x = K(0,0);
float f_y = K(1,1);
float c_y = K(1,2);
float aspect_ratio = f_y / f_x;
double f_x = K(0,0);
double f_y = K(1,1);
double c_y = K(1,2);
double aspect_ratio = f_y / f_x;
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI;
camera->SetViewAngle(fovy);
camera->SetPosition(0.0,0.0,0.0);
......@@ -1303,14 +1302,14 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &p
setColor(color);
}
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale, const Color &color)
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
camera->SetPosition(0.0,0.0,0.0);
camera->SetViewUp(0.0,1.0,0.0);
camera->SetFocalPoint(0.0,0.0,1.0);
camera->SetPosition(0.0, 0.0, 0.0);
camera->SetViewUp(0.0, 1.0, 0.0);
camera->SetFocalPoint(0.0, 0.0, 1.0);
camera->SetClippingRange(0.01, scale);
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
......@@ -1352,7 +1351,7 @@ template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast<cv::viz::WTrajecto
///////////////////////////////////////////////////////////////////////////////////////////////
/// WTrajectorySpheres widget implementation
cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length, float init_sphere_radius, float sphere_radius,
cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length, double init_sphere_radius, double sphere_radius,
const Color &line_color, const Color &sphere_color)
{
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
......
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