QVision: Qt's Image, Video and Computer Vision Library

00001 /*
00002  *      Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012. PARP Research Group.
00003  *      <http://perception.inf.um.es>
00004  *      University of Murcia, Spain.
00005  *
00006  *      This file is part of the QVision library.
00007  *
00008  *      QVision is free software: you can redistribute it and/or modify
00009  *      it under the terms of the GNU Lesser General Public License as
00010  *      published by the Free Software Foundation, version 3 of the License.
00011  *
00012  *      QVision is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *      GNU Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with QVision. If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00024 
00025 #include <QV3DCanvas>
00026 
00027 QV3DPolylineF cameraWireModel(const QVEuclideanMapping3 &E3, const double base_side_length, const double height)
00028         {
00029         QV3DPolylineF p;
00030         p << QV3DPointF(0,0,0);
00031         p << QV3DPointF(-base_side_length,      -base_side_length,      height);
00032         p << QV3DPointF(-base_side_length,      base_side_length,       height);
00033         p << QV3DPointF(0,0,0);
00034 
00035         p << QV3DPointF(-base_side_length,      base_side_length,       height);
00036         p << QV3DPointF(base_side_length,       base_side_length,       height);
00037         p << QV3DPointF(0,0,0);
00038         p << QV3DPointF(base_side_length,       base_side_length,       height);
00039         p << QV3DPointF(base_side_length,       -base_side_length,      height);
00040         p << QV3DPointF(0,0,0);
00041 
00042         p << QV3DPointF(base_side_length,       -base_side_length,      height);
00043         p << QV3DPointF(-base_side_length,      -base_side_length,      height);
00044         p << QV3DPointF(0,0,0);
00045 
00046         const QVEuclideanMapping3 E3inv = E3.inverse();
00047 
00048         QV3DPolylineF result;
00049         foreach(QV3DPointF point, p)
00050                 result << E3inv.apply(point);
00051 
00052         return result;
00053         }
00054 
00055 class SfMViewer: public QV3DCanvas
00056         {
00057         public:
00058                 QList<QV3DPointF> points3D;
00059                 QList<QVCameraPose> cameras;
00060 
00061                 void setPoints3D(const QList<QV3DPointF> &p3D)
00062                         {
00063                         points3D = p3D;
00064                         }
00065 
00066                 void setCameras(const QList<QVCameraPose> &cams)
00067                         {
00068                         cameras = cams;
00069                         }
00070 
00071                 SfMViewer(const QList<QVCameraPose> &cameras, const QList<QV3DPointF> &points3D, const QString &name = QString()):
00072                         QV3DCanvas(name, 0.5, true),
00073                         points3D(points3D), cameras(cameras)
00074                         {
00075                         }
00076 
00077                 void display()
00078                         {
00079                         //std::cout << "[display] Start." << std::endl;
00080                         glEnable(GL_COLOR_MATERIAL);
00081                         glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE);
00082                         
00083                         glShadeModel(GL_FLAT);
00084 
00085                         // Display points
00086                         draw2(points3D, 0.025);
00087 
00088                         // Display cameras
00089                         QV3DPolylineF centers;
00090                         foreach(QVCameraPose cameraPose, cameras)
00091                                 {
00092                                 const QV3DPolylineF polyline = cameraWireModel(cameraPose, 0.15, 0.3);
00093                                 draw(polyline, Qt::red);
00094                                 centers << cameraPose.getCenter();
00095                                 }
00096                         draw(centers, Qt::yellow);
00097                         }
00098 
00099                 void draw2(const QList<QV3DPointF> &qv3DPointList, const double size)
00100                         {
00101                         glBegin(GL_POINTS);
00102 
00103                         glPointSize(size);
00104                         int i = 0; 
00105 
00106                         foreach(QV3DPointF point, qv3DPointList)
00107                                 {
00108                                 qglColor(QColor(196,196,196));
00109                                 glVertex3f(point.x(), point.y(), point.z());
00110                                 i++;
00111                                 }
00112                         glEnd();
00113                         }
00114 
00115         };
00116
examples/testSBA_ROS/sfmviewer.h
