opencv/modules/viz/src/widget.cpp

#include "precomp.hpp"

///////////////////////////////////////////////////////////////////////////////////////////////
/// widget implementation

class cv::viz::Widget::Impl
{
public:
    vtkSmartPointer<vtkProp> prop;
    
    Impl() : prop(0) {}
};

cv::viz::Widget::Widget() : impl_( new Impl() ) { }

cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
{
    vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
    reader->SetFileName (file_name.c_str ());
    
    vtkSmartPointer<vtkDataSet> data = reader->GetOutput();
    CV_Assert(data);

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
    mapper->SetInput (data);

    vtkSmartPointer<vtkDataArray> scalars = data->GetPointData ()->GetScalars ();
    if (scalars)
    {
        cv::Vec3d minmax(scalars->GetRange());
        mapper->SetScalarRange(minmax.val);
        mapper->SetScalarModeToUsePointData ();

        // interpolation OFF, if data is a vtkPolyData that contains only vertices, ON for anything else.
        vtkPolyData* polyData = vtkPolyData::SafeDownCast (data);
        bool interpolation = (polyData && polyData->GetNumberOfCells () != polyData->GetNumberOfVerts ());

        mapper->SetInterpolateScalarsBeforeMapping (interpolation);
        mapper->ScalarVisibilityOn ();
    }
    mapper->ImmediateModeRenderingOff ();

    actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, data->GetNumberOfPoints () / 10)));
    actor->GetProperty ()->SetInterpolationToFlat ();
    actor->GetProperty ()->BackfaceCullingOn ();

    actor->SetMapper (mapper);
    
    Widget widget;
    widget.impl_->prop = actor;
    return widget;
}

void cv::viz::Widget::setRenderingProperty(int property, double value)
{
    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);
    
    switch (property)
    {
        case VIZ_POINT_SIZE:
        {
            actor->GetProperty ()->SetPointSize (float (value));
            actor->Modified ();
            break;
        }
        case VIZ_OPACITY:
        {
            actor->GetProperty ()->SetOpacity (value);
            actor->Modified ();
            break;
        }
            // Turn on/off flag to control whether data is rendered using immediate
            // mode or note. Immediate mode rendering tends to be slower but it can
            // handle larger datasets. The default value is immediate mode off. If you
            // are having problems rendering a large dataset you might want to consider
            // using immediate more rendering.
        case VIZ_IMMEDIATE_RENDERING:
        {
            actor->GetMapper ()->SetImmediateModeRendering (int (value));
            actor->Modified ();
            break;
        }
        case VIZ_LINE_WIDTH:
        {
            actor->GetProperty ()->SetLineWidth (float (value));
            actor->Modified ();
            break;
        }
        default:
            CV_Assert("setPointCloudRenderingProperties: Unknown property");
    }
}

double cv::viz::Widget::getRenderingProperty(int property) const
{
    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);
    
    double value = 0.0;
    switch (property)
    {
        case VIZ_POINT_SIZE:
        {
            value = actor->GetProperty ()->GetPointSize ();
            actor->Modified ();
            break;
        }
        case VIZ_OPACITY:
        {
            value = actor->GetProperty ()->GetOpacity ();
            actor->Modified ();
            break;
        }
        case VIZ_LINE_WIDTH:
        {
            value = actor->GetProperty ()->GetLineWidth ();
            actor->Modified ();
            break;
        }
        case VIZ_FONT_SIZE:
        {
            vtkTextActor* text_actor = vtkTextActor::SafeDownCast (actor);
            vtkSmartPointer<vtkTextProperty> tprop = text_actor->GetTextProperty ();
            tprop->SetFontSize (int (value));
            text_actor->Modified ();
            break;
        }
        case VIZ_REPRESENTATION:
        {
            switch (int (value))
            {
                case REPRESENTATION_POINTS:    actor->GetProperty ()->SetRepresentationToPoints (); break;
                case REPRESENTATION_WIREFRAME: actor->GetProperty ()->SetRepresentationToWireframe (); break;
                case REPRESENTATION_SURFACE:   actor->GetProperty ()->SetRepresentationToSurface ();  break;
            }
            actor->Modified ();
            break;
        }
        case VIZ_SHADING:
        {
            switch (int (value))
            {
                case SHADING_FLAT: actor->GetProperty ()->SetInterpolationToFlat (); break;
                case SHADING_GOURAUD:
                {
                    if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetNormals ())
                    {
                        vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
                        normals->SetInput (actor->GetMapper ()->GetInput ());
                        normals->Update ();
                        vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
                    }
                    actor->GetProperty ()->SetInterpolationToGouraud ();
                    break;
                }
                case SHADING_PHONG:
                {
                    if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetNormals ())
                    {
                        vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
                        normals->SetInput (actor->GetMapper ()->GetInput ());
                        normals->Update ();
                        vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
                    }
                    actor->GetProperty ()->SetInterpolationToPhong ();
                    break;
                }
            }
            actor->Modified ();
            break;
        }
        default:
            CV_Assert("getPointCloudRenderingProperties: Unknown property");
    }
    return value;
}

///////////////////////////////////////////////////////////////////////////////////////////////
/// widget accessor implementaion

vtkSmartPointer<vtkProp> cv::viz::WidgetAccessor::getProp(const Widget& widget)
{
    return widget.impl_->prop;
}

void cv::viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> prop)
{
    widget.impl_->prop = prop;
}

///////////////////////////////////////////////////////////////////////////////////////////////
/// widget3D implementation

struct cv::viz::Widget3D::MatrixConverter
{
    static Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
    {
        Matx44f m;
        for (int i = 0; i < 4; i++)
            for (int k = 0; k < 4; k++)
                m(i, k) = vtk_matrix->GetElement (i, k);
        return m;
    }
    
    static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const Matx44f& m)
    {
        vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
        for (int i = 0; i < 4; i++)
            for (int k = 0; k < 4; k++)
                vtk_matrix->SetElement(i, k, m(i, k));
        return vtk_matrix;
    }
};

void cv::viz::Widget3D::setPose(const Affine3f &pose)
{
    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);
    
    vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
    actor->SetUserMatrix (matrix);
    actor->Modified ();
}

void cv::viz::Widget3D::updatePose(const Affine3f &pose)
{
    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);
    
    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
    if (!matrix)
    {
        setPose(pose);
        return ;
    }
    Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);

    Affine3f updated_pose = pose * Affine3f(matrix_cv);
    matrix = MatrixConverter::convertToVtkMatrix(updated_pose.matrix);

    actor->SetUserMatrix (matrix);
    actor->Modified ();
}

cv::Affine3f cv::viz::Widget3D::getPose() const
{
    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);
    
    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
    Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
    return Affine3f(matrix_cv);
}

void cv::viz::Widget3D::setColor(const Color &color)
{
    // Cast to actor instead of prop3d since prop3d doesn't provide getproperty
    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);
    
    Color c = vtkcolor(color);
    actor->GetMapper ()->ScalarVisibilityOff ();
    actor->GetProperty ()->SetColor (c.val);
    actor->GetProperty ()->SetEdgeColor (c.val);
    actor->Modified ();
}

template<> cv::viz::Widget3D cv::viz::Widget::cast<cv::viz::Widget3D>()
{
    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);

    Widget3D widget;
    WidgetAccessor::setProp(widget, actor);
    return widget;
}

///////////////////////////////////////////////////////////////////////////////////////////////
/// widget2D implementation

void cv::viz::Widget2D::setColor(const Color &color)
{
    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);
    Color c = vtkcolor(color);
    actor->GetProperty ()->SetColor (c.val);
    actor->Modified ();
}

template<> cv::viz::Widget2D cv::viz::Widget::cast<cv::viz::Widget2D>()
{
    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
    CV_Assert(actor);

    Widget2D widget;
    WidgetAccessor::setProp(widget, actor);
    return widget;
}