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viz: move to opencv_contrib

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pull/13069/head
Alexander Alekhin 6 years ago
parent b17e1531d2
commit 787f5236a9
45 changed files with 0 additions and 9928 deletions
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  1. 38
      modules/viz/CMakeLists.txt
  2. BIN
      modules/viz/doc/images/cpw1.png
  3. BIN
      modules/viz/doc/images/cpw2.png
  4. BIN
      modules/viz/doc/images/cpw3.png
  5. BIN
      modules/viz/doc/images/cube_widget.png
  6. 84
      modules/viz/include/opencv2/viz.hpp
  7. 387
      modules/viz/include/opencv2/viz/types.hpp
  8. 353
      modules/viz/include/opencv2/viz/viz3d.hpp
  9. 226
      modules/viz/include/opencv2/viz/vizcore.hpp
  10. 89
      modules/viz/include/opencv2/viz/widget_accessor.hpp
  11. 850
      modules/viz/include/opencv2/viz/widgets.hpp
  12. 530
      modules/viz/src/clouds.cpp
  13. 343
      modules/viz/src/precomp.hpp
  14. 1107
      modules/viz/src/shapes.cpp
  15. 228
      modules/viz/src/types.cpp
  16. 156
      modules/viz/src/viz3d.cpp
  17. 352
      modules/viz/src/vizcore.cpp
  18. 622
      modules/viz/src/vizimpl.cpp
  19. 146
      modules/viz/src/vizimpl.hpp
  20. 174
      modules/viz/src/vtk/vtkCloudMatSink.cpp
  21. 88
      modules/viz/src/vtk/vtkCloudMatSink.h
  22. 286
      modules/viz/src/vtk/vtkCloudMatSource.cpp
  23. 96
      modules/viz/src/vtk/vtkCloudMatSource.h
  24. 226
      modules/viz/src/vtk/vtkCocoaInteractorFix.mm
  25. 143
      modules/viz/src/vtk/vtkImageMatSource.cpp
  26. 82
      modules/viz/src/vtk/vtkImageMatSource.h
  27. 270
      modules/viz/src/vtk/vtkOBJWriter.cpp
  28. 91
      modules/viz/src/vtk/vtkOBJWriter.h
  29. 110
      modules/viz/src/vtk/vtkTrajectorySource.cpp
  30. 84
      modules/viz/src/vtk/vtkTrajectorySource.h
  31. 1076
      modules/viz/src/vtk/vtkVizInteractorStyle.cpp
  32. 169
      modules/viz/src/vtk/vtkVizInteractorStyle.hpp
  33. 107
      modules/viz/src/vtk/vtkXYZReader.cpp
  34. 80
      modules/viz/src/vtk/vtkXYZReader.h
  35. 122
      modules/viz/src/vtk/vtkXYZWriter.cpp
  36. 90
      modules/viz/src/vtk/vtkXYZWriter.h
  37. 352
      modules/viz/src/widget.cpp
  38. 27
      modules/viz/test/test_common.cpp
  39. 87
      modules/viz/test/test_common.hpp
  40. 6
      modules/viz/test/test_main.cpp
  41. 10
      modules/viz/test/test_precomp.hpp
  42. 58
      modules/viz/test/test_tutorial2.cpp
  43. 64
      modules/viz/test/test_tutorial3.cpp
  44. 65
      modules/viz/test/test_viz3d.cpp
  45. 454
      modules/viz/test/tests_simple.cpp

38
modules/viz/CMakeLists.txt
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if(NOT HAVE_VTK)
ocv_module_disable(viz)
endif()
set(the_description "Viz")
include(${VTK_USE_FILE})
if(NOT BUILD_SHARED_LIBS)
# We observed conflict between builtin 3rdparty libraries and
# system-wide similar libraries (but with different versions) from VTK dependencies
set(_conflicts "")
foreach(dep ${VTK_LIBRARIES})
if(("${dep}" MATCHES "libz\\." AND BUILD_ZLIB)
OR ("${dep}" MATCHES "libjpeg\\." AND BUILD_JPEG)
OR ("${dep}" MATCHES "libpng\\." AND BUILD_PNG)
OR ("${dep}" MATCHES "libtiff\\." AND BUILD_TIFF)
)
list(APPEND _conflicts "${dep}")
endif()
endforeach()
if(_conflicts)
message(STATUS "Disabling VIZ module due to conflicts with VTK dependencies: ${_conflicts}")
ocv_module_disable(viz)
endif()
endif()
ocv_warnings_disable(CMAKE_CXX_FLAGS -Winconsistent-missing-override -Wsuggest-override)
ocv_define_module(viz opencv_core WRAP python)
ocv_target_link_libraries(${the_module} LINK_PRIVATE ${VTK_LIBRARIES})
if(APPLE AND BUILD_opencv_viz)
ocv_target_link_libraries(${the_module} LINK_PRIVATE "-framework Cocoa")
endif()
if(TARGET opencv_test_viz)
set_target_properties(opencv_test_viz PROPERTIES MACOSX_BUNDLE TRUE)
endif()

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84
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef OPENCV_VIZ_HPP
#define OPENCV_VIZ_HPP
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <opencv2/viz/viz3d.hpp>
#include <opencv2/viz/vizcore.hpp>
/**
@defgroup viz 3D Visualizer
This section describes 3D visualization window as well as classes and methods that are used to
interact with it.
3D visualization window (see Viz3d) is used to display widgets (see Widget), and it provides several
methods to interact with scene and widgets.
@{
@defgroup viz_widget Widget
In this section, the widget framework is explained. Widgets represent 2D or 3D objects, varying from
simple ones such as lines to complex ones such as point clouds and meshes.
Widgets are **implicitly shared**. Therefore, one can add a widget to the scene, and modify the
widget without re-adding the widget.
@code
// Create a cloud widget
viz::WCloud cw(cloud, viz::Color::red());
// Display it in a window
myWindow.showWidget("CloudWidget1", cw);
// Modify it, and it will be modified in the window.
cw.setColor(viz::Color::yellow());
@endcode
@}
*/
#endif /* OPENCV_VIZ_HPP */

387
modules/viz/include/opencv2/viz/types.hpp
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@ -1,387 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef OPENCV_VIZ_TYPES_HPP
#define OPENCV_VIZ_TYPES_HPP
#include <string>
#include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp>
namespace cv
{
namespace viz
{
//! @addtogroup viz
//! @{
/** @brief This class represents color in BGR order.
*/
class Color : public Scalar
{
public:
Color();
//! The three channels will have the same value equal to gray.
Color(double gray);
Color(double blue, double green, double red);
Color(const Scalar& color);
operator Vec3b() const;
static Color black();
static Color blue();
static Color green();
static Color cyan();
static Color red();
static Color magenta();
static Color yellow();
static Color white();
static Color gray();
static Color mlab();
static Color navy();
static Color olive();
static Color maroon();
static Color teal();
static Color rose();
static Color azure();
static Color lime();
static Color gold();
static Color brown();
static Color orange();
static Color chartreuse();
static Color orange_red();
static Color purple();
static Color indigo();
static Color pink();
static Color cherry();
static Color bluberry();
static Color raspberry();
static Color silver();
static Color violet();
static Color apricot();
static Color turquoise();
static Color celestial_blue();
static Color amethyst();
static Color not_set();
};
/** @brief This class wraps mesh attributes, and it can load a mesh from a ply file. :
*/
class CV_EXPORTS Mesh
{
public:
enum {
LOAD_AUTO = 0,
LOAD_PLY = 1,
LOAD_OBJ = 2
};
Mat cloud; //!< point coordinates of type CV_32FC3 or CV_64FC3 with only 1 row
Mat colors; //!< point color of type CV_8UC3 or CV_8UC4 with only 1 row
Mat normals; //!< point normals of type CV_32FC3, CV_32FC4, CV_64FC3 or CV_64FC4 with only 1 row
//! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...)
//! where n is the number of points in the polygon, and id is a zero-offset index into an associated cloud.
Mat polygons; //!< CV_32SC1 with only 1 row
Mat texture;
Mat tcoords; //!< CV_32FC2 or CV_64FC2 with only 1 row
/** @brief Loads a mesh from a ply or a obj file.
@param file File name
@param type File type (for now only PLY and OBJ are supported)
**File type** can be one of the following:
- **LOAD_PLY**
- **LOAD_OBJ**
*/
static Mesh load(const String& file, int type = LOAD_PLY);
};
/** @brief This class wraps intrinsic parameters of a camera.
It provides several constructors that can extract the intrinsic parameters from field of
view, intrinsic matrix and projection matrix. :
*/
class CV_EXPORTS Camera
{
public:
/** @brief Constructs a Camera.
@param fx Horizontal focal length.
@param fy Vertical focal length.
@param cx x coordinate of the principal point.
@param cy y coordinate of the principal point.
@param window_size Size of the window. This together with focal length and principal
point determines the field of view.
*/
Camera(double fx, double fy, double cx, double cy, const Size &window_size);
/** @overload
@param fov Field of view (horizontal, vertical)
@param window_size Size of the window. Principal point is at the center of the window
by default.
*/
Camera(const Vec2d &fov, const Size &window_size);
/** @overload
@param K Intrinsic matrix of the camera with the following form
\f[
\begin{bmatrix}
f_x & 0 & c_x\\
0 & f_y & c_y\\
0 & 0 & 1\\
\end{bmatrix}
\f]
@param window_size Size of the window. This together with intrinsic matrix determines
the field of view.
*/
Camera(const Matx33d &K, const Size &window_size);
/** @overload
@param proj Projection matrix of the camera with the following form
\f[
\begin{bmatrix}
\frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\
0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\
0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\
0 & 0 & -1 & 0\\
\end{bmatrix}
\f]
@param window_size Size of the window. This together with projection matrix determines
the field of view.
*/
explicit Camera(const Matx44d &proj, const Size &window_size);
const Vec2d & getClip() const { return clip_; }
void setClip(const Vec2d &clip) { clip_ = clip; }
const Size & getWindowSize() const { return window_size_; }
void setWindowSize(const Size &window_size);
const Vec2d& getFov() const { return fov_; }
void setFov(const Vec2d& fov) { fov_ = fov; }
const Vec2d& getPrincipalPoint() const { return principal_point_; }
const Vec2d& getFocalLength() const { return focal_; }
/** @brief Computes projection matrix using intrinsic parameters of the camera.
@param proj Output projection matrix with the following form
\f[
\begin{bmatrix}
\frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\
0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\
0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\
0 & 0 & -1 & 0\\
\end{bmatrix}
\f]
*/
void computeProjectionMatrix(Matx44d &proj) const;
/** @brief Creates a Kinect Camera with
- fx = fy = 525
- cx = 320
- cy = 240
@param window_size Size of the window. This together with intrinsic matrix of a Kinect Camera
determines the field of view.
*/
static Camera KinectCamera(const Size &window_size);
private:
void init(double fx, double fy, double cx, double cy, const Size &window_size);
/** The near plane and the far plane.
* - clip_[0]: the near plane; default value is 0.01
* - clip_[1]: the far plane; default value is 1000.01
*/
Vec2d clip_;
/**
* Field of view.
* - fov_[0]: horizontal(x-axis) field of view in radians
* - fov_[1]: vertical(y-axis) field of view in radians
*/
Vec2d fov_;
/** Window size.*/
Size window_size_;
/**
* Principal point.
* - principal_point_[0]: cx
* - principal_point_[1]: cy
*/
Vec2d principal_point_;
/**
* Focal length.
* - focal_[0]: fx
* - focal_[1]: fy
*/
Vec2d focal_;
};
/** @brief This class represents a keyboard event.
*/
class CV_EXPORTS KeyboardEvent
{
public:
enum { NONE = 0, ALT = 1, CTRL = 2, SHIFT = 4 };
enum Action { KEY_UP = 0, KEY_DOWN = 1 };
/** @brief Constructs a KeyboardEvent.
@param action Signals if key is pressed or released.
@param symbol Name of the key.
@param code Code of the key.
@param modifiers Signals if alt, ctrl or shift are pressed or their combination.
*/
KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers);
Action action;
String symbol;
unsigned char code;
int modifiers;
};
/** @brief This class represents a mouse event.
*/
class CV_EXPORTS MouseEvent
{
public:
enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ;
enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ;
/** @brief Constructs a MouseEvent.
@param type Type of the event. This can be **MouseMove**, **MouseButtonPress**,
**MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
@param button Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**,
**RightButton**, **VScroll**.
@param pointer Position of the event.
@param modifiers Signals if alt, ctrl or shift are pressed or their combination.
*/
MouseEvent(const Type& type, const MouseButton& button, const Point& pointer, int modifiers);
Type type;
MouseButton button;
Point pointer;
int modifiers;
};
//! @} viz
} /* namespace viz */
} /* namespace cv */
//! @cond IGNORED
//////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::viz::Color
inline cv::viz::Color::Color() : Scalar(0, 0, 0) {}
inline cv::viz::Color::Color(double _gray) : Scalar(_gray, _gray, _gray) {}
inline cv::viz::Color::Color(double _blue, double _green, double _red) : Scalar(_blue, _green, _red) {}
inline cv::viz::Color::Color(const Scalar& color) : Scalar(color) {}
inline cv::viz::Color::operator cv::Vec3b() const { return cv::Vec3d(val); }
inline cv::viz::Color cv::viz::Color::black() { return Color( 0, 0, 0); }
inline cv::viz::Color cv::viz::Color::green() { return Color( 0, 255, 0); }
inline cv::viz::Color cv::viz::Color::blue() { return Color(255, 0, 0); }
inline cv::viz::Color cv::viz::Color::cyan() { return Color(255, 255, 0); }
inline cv::viz::Color cv::viz::Color::red() { return Color( 0, 0, 255); }
inline cv::viz::Color cv::viz::Color::yellow() { return Color( 0, 255, 255); }
inline cv::viz::Color cv::viz::Color::magenta() { return Color(255, 0, 255); }
inline cv::viz::Color cv::viz::Color::white() { return Color(255, 255, 255); }
inline cv::viz::Color cv::viz::Color::gray() { return Color(128, 128, 128); }
inline cv::viz::Color cv::viz::Color::mlab() { return Color(255, 128, 128); }
inline cv::viz::Color cv::viz::Color::navy() { return Color(0, 0, 128); }
inline cv::viz::Color cv::viz::Color::olive() { return Color(0, 128, 128); }
inline cv::viz::Color cv::viz::Color::maroon() { return Color(0, 0, 128); }
inline cv::viz::Color cv::viz::Color::teal() { return Color(128, 128, 0); }
inline cv::viz::Color cv::viz::Color::rose() { return Color(128, 0, 255); }
inline cv::viz::Color cv::viz::Color::azure() { return Color(255, 128, 0); }
inline cv::viz::Color cv::viz::Color::lime() { return Color(0, 255, 191); }
inline cv::viz::Color cv::viz::Color::gold() { return Color(0, 215, 255); }
inline cv::viz::Color cv::viz::Color::brown() { return Color(42, 42, 165); }
inline cv::viz::Color cv::viz::Color::orange() { return Color(0, 165, 255); }
inline cv::viz::Color cv::viz::Color::chartreuse() { return Color(0, 255, 128); }
inline cv::viz::Color cv::viz::Color::orange_red() { return Color(0, 69, 255); }
inline cv::viz::Color cv::viz::Color::purple() { return Color(128, 0, 128); }
inline cv::viz::Color cv::viz::Color::indigo() { return Color(130, 0, 75); }
inline cv::viz::Color cv::viz::Color::pink() { return Color(203, 192, 255); }
inline cv::viz::Color cv::viz::Color::cherry() { return Color( 99, 29, 222); }
inline cv::viz::Color cv::viz::Color::bluberry() { return Color(247, 134, 79); }
inline cv::viz::Color cv::viz::Color::raspberry() { return Color( 92, 11, 227); }
inline cv::viz::Color cv::viz::Color::silver() { return Color(192, 192, 192); }
inline cv::viz::Color cv::viz::Color::violet() { return Color(226, 43, 138); }
inline cv::viz::Color cv::viz::Color::apricot() { return Color(177, 206, 251); }
inline cv::viz::Color cv::viz::Color::turquoise() { return Color(208, 224, 64); }
inline cv::viz::Color cv::viz::Color::celestial_blue() { return Color(208, 151, 73); }
inline cv::viz::Color cv::viz::Color::amethyst() { return Color(204, 102, 153); }
inline cv::viz::Color cv::viz::Color::not_set() { return Color(-1, -1, -1); }
//! @endcond
#endif

353
modules/viz/include/opencv2/viz/viz3d.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef OPENCV_VIZ_VIZ3D_HPP
#define OPENCV_VIZ_VIZ3D_HPP
#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED && !defined CVAPI_EXPORTS
//#error "Viz is in beta state now. Please define macro above to use it"
#endif
#include <opencv2/core.hpp>
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
namespace cv
{
namespace viz
{
//! @addtogroup viz
//! @{
/** @brief The Viz3d class represents a 3D visualizer window. This class is implicitly shared.
*/
class CV_EXPORTS Viz3d
{
public:
typedef cv::viz::Color Color;
typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
typedef void (*MouseCallback)(const MouseEvent&, void*);
/** @brief The constructors.
@param window_name Name of the window.
*/
Viz3d(const String& window_name = String());
Viz3d(const Viz3d&);
Viz3d& operator=(const Viz3d&);
~Viz3d();
/** @brief Shows a widget in the window.
@param id A unique id for the widget. @param widget The widget to be displayed in the window.
@param pose Pose of the widget.
*/
void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity());
/** @brief Removes a widget from the window.
@param id The id of the widget that will be removed.
*/
void removeWidget(const String &id);
/** @brief Retrieves a widget from the window.
A widget is implicitly shared; that is, if the returned widget is modified, the changes
will be immediately visible in the window.
@param id The id of the widget that will be returned.
*/
Widget getWidget(const String &id) const;
/** @brief Removes all widgets from the window.
*/
void removeAllWidgets();
/** @brief Removed all widgets and displays image scaled to whole window area.
@param image Image to be displayed.
@param window_size Size of Viz3d window. Default value means no change.
*/
void showImage(InputArray image, const Size& window_size = Size(-1, -1));
/** @brief Sets pose of a widget in the window.
@param id The id of the widget whose pose will be set. @param pose The new pose of the widget.
*/
void setWidgetPose(const String &id, const Affine3d &pose);
/** @brief Updates pose of a widget in the window by pre-multiplying its current pose.
@param id The id of the widget whose pose will be updated. @param pose The pose that the current
pose of the widget will be pre-multiplied by.
*/
void updateWidgetPose(const String &id, const Affine3d &pose);
/** @brief Returns the current pose of a widget in the window.
@param id The id of the widget whose pose will be returned.
*/
Affine3d getWidgetPose(const String &id) const;
/** @brief Sets the intrinsic parameters of the viewer using Camera.
@param camera Camera object wrapping intrinsic parameters.
*/
void setCamera(const Camera &camera);
/** @brief Returns a camera object that contains intrinsic parameters of the current viewer.
*/
Camera getCamera() const;
/** @brief Returns the current pose of the viewer.
*/
Affine3d getViewerPose() const;
/** @brief Sets pose of the viewer.
@param pose The new pose of the viewer.
*/
void setViewerPose(const Affine3d &pose);
/** @brief Resets camera viewpoint to a 3D widget in the scene.
@param id Id of a 3D widget.
*/
void resetCameraViewpoint(const String &id);
/** @brief Resets camera.
*/
void resetCamera();
/** @brief Transforms a point in world coordinate system to window coordinate system.
@param pt Point in world coordinate system.
@param window_coord Output point in window coordinate system.
*/
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
/** @brief Transforms a point in window coordinate system to a 3D ray in world coordinate system.
@param window_coord Point in window coordinate system. @param origin Output origin of the ray.
@param direction Output direction of the ray.
*/
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
/** @brief Returns the current size of the window.
*/
Size getWindowSize() const;
/** @brief Sets the size of the window.
@param window_size New size of the window.
*/
void setWindowSize(const Size &window_size);
/** @brief Returns the name of the window which has been set in the constructor.
* `Viz - ` is prepended to the name if necessary.
*/
String getWindowName() const;
/** @brief Returns the Mat screenshot of the current scene.
*/
cv::Mat getScreenshot() const;
/** @brief Saves screenshot of the current scene.
@param file Name of the file.
*/
void saveScreenshot(const String &file);
/** @brief Sets the position of the window in the screen.
@param window_position coordinates of the window
*/
void setWindowPosition(const Point& window_position);
/** @brief Sets or unsets full-screen rendering mode.
@param mode If true, window will use full-screen mode.
*/
void setFullScreen(bool mode = true);
/** @brief Sets background color.
*/
void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set());
void setBackgroundTexture(InputArray image = noArray());
void setBackgroundMeshLab();
/** @brief The window renders and starts the event loop.
*/
void spin();
/** @brief Starts the event loop for a given time.
@param time Amount of time in milliseconds for the event loop to keep running.
@param force_redraw If true, window renders.
*/
void spinOnce(int time = 1, bool force_redraw = false);
/** @brief Create a window in memory instead of on the screen.
*/
void setOffScreenRendering();
/** @brief Remove all lights from the current scene.
*/
void removeAllLights();
/** @brief Add a light in the scene.
@param position The position of the light.
@param focalPoint The point at which the light is shining
@param color The color of the light
@param diffuseColor The diffuse color of the light
@param ambientColor The ambient color of the light
@param specularColor The specular color of the light
*/
void addLight(const Vec3d &position, const Vec3d &focalPoint = Vec3d(0, 0, 0), const Color &color = Color::white(),
const Color &diffuseColor = Color::white(), const Color &ambientColor = Color::black(),
const Color &specularColor = Color::white());
/** @brief Returns whether the event loop has been stopped.
*/
bool wasStopped() const;
void close();
/** @brief Sets keyboard handler.
@param callback Keyboard callback (void (\*KeyboardCallbackFunction(const
KeyboardEvent&, void\*)).
@param cookie The optional parameter passed to the callback.
*/
void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
/** @brief Sets mouse handler.
@param callback Mouse callback (void (\*MouseCallback)(const MouseEvent&, void\*)).
@param cookie The optional parameter passed to the callback.
*/
void registerMouseCallback(MouseCallback callback, void* cookie = 0);
/** @brief Sets rendering property of a widget.
@param id Id of the widget.
@param property Property that will be modified.
@param value The new value of the property.
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
IMMEDIATE_RENDERING:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**
*/
void setRenderingProperty(const String &id, int property, double value);
/** @brief Returns rendering property of a widget.
@param id Id of the widget.
@param property Property.
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
IMMEDIATE_RENDERING:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**
*/
double getRenderingProperty(const String &id, int property);
/** @brief Sets geometry representation of the widgets to surface, wireframe or points.
@param representation Geometry representation which can be one of the following:
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
*/
void setRepresentation(int representation);
void setGlobalWarnings(bool enabled = false);
private:
struct VizImpl;
VizImpl* impl_;
void create(const String &window_name);
void release();
friend class VizStorage;
};
//! @}
} /* namespace viz */
} /* namespace cv */
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef OPENCV_VIZCORE_HPP
#define OPENCV_VIZCORE_HPP
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <opencv2/viz/viz3d.hpp>
namespace cv
{
namespace viz
{
//! @addtogroup viz
//! @{
/** @brief Takes coordinate frame data and builds transform to global coordinate frame.
@param axis_x X axis vector in global coordinate frame.
@param axis_y Y axis vector in global coordinate frame.
@param axis_z Z axis vector in global coordinate frame.
@param origin Origin of the coordinate frame in global coordinate frame.
@return An affine transform that describes transformation between global coordinate frame
and a given coordinate frame.
The returned transforms can transform a point in the given coordinate frame to the global
coordinate frame.
*/
CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0));
/** @brief Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more
information).
@param position Position of the camera in global coordinate frame.
@param focal_point Focal point of the camera in global coordinate frame.
@param y_dir Up vector of the camera in global coordinate frame.
This function returns pose of the camera in global coordinate frame.
*/
CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir);
/** @brief Retrieves a window by its name.
@param window_name Name of the window that is to be retrieved.
This function returns a Viz3d object with the given name.
@note If the window with that name already exists, that window is returned. Otherwise, new window is
created with the given name, and it is returned.
@note Window names are automatically prefixed by "Viz - " if it is not done by the user.
@code
/// window and window_2 are the same windows.
viz::Viz3d window = viz::getWindowByName("myWindow");
viz::Viz3d window_2 = viz::getWindowByName("Viz - myWindow");
@endcode
*/
CV_EXPORTS Viz3d getWindowByName(const String &window_name);
//! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead of getting existing from the database.
CV_EXPORTS void unregisterAllWindows();
//! Displays image in specified window
CV_EXPORTS Viz3d imshow(const String& window_name, InputArray image, const Size& window_size = Size(-1, -1));
/** @brief Checks **float/double** value for nan.
@param x return true if nan.
*/
inline bool isNan(float x)
{
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
}
/** @brief Checks **float/double** value for nan.
@param x return true if nan.
*/
inline bool isNan(double x)
{
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
}
/** @brief Checks **float/double** value for nan.
@param v return true if **any** of the elements of the vector is *nan*.
*/
template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
{ return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }
/** @brief Checks **float/double** value for nan.
@param p return true if **any** of the elements of the point is *nan*.
*/
template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)
/**
* @param file Filename with extension. Supported formats: PLY, XYZ and OBJ.
* @param cloud Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4.
* @param colors Used by PLY format only. Supported depth: CV_8U. Supported channels: 1, 3 and 4.
* @param normals Used by PLY and OBJ format only. Supported depths: CV_32F and CV_64F.
* Supported channels: 3 and 4.
* @param binary Used only for PLY format.
*/
CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false);
/**
* @param file Filename with extension. Supported formats: PLY, XYZ, OBJ and STL.
* @param colors Used by PLY and STL formats only.
* @param normals Used by PLY, OBJ and STL formats only.
* @return A mat containing the point coordinates with depth CV_32F or CV_64F and number of
* channels 3 or 4 with only 1 row.
*/
CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray());
///////////////////////////////////////////////////////////////////////////////////////////////
/// Reads mesh. Only ply format is supported now and no texture load support
CV_EXPORTS Mesh readMesh(const String& file);
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write poses and trajectories
/**
* @param file Filename of type supported by cv::FileStorage.
* @param pose Output matrix.
* @param tag Name of the pose in the file.
*/
CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose");
/**
* @param file Filename.
* @param pose Input matrix.
* @param tag Name of the pose to be saved into the given file.
*/
CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose");
/** takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format
* @param traj Trajectory containing a list of poses. It can be
* - std::vector<cv::Mat>, each cv::Mat is of type CV_32F16 or CV_64FC16
* - std::vector<cv::Affine3f>, std::vector<cv::Affine3d>
* - cv::Mat of type CV_32FC16 OR CV_64F16
* @param files_format Format specifier string for constructing filenames.
* The only placeholder in the string should support `int`.
* @param start The initial counter for files_format.
* @param tag Name of the matrix in the file.
*/
CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose");
/** takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files
*
* @param traj Output array containing a lists of poses. It can be
* - std::vector<cv::Affine3f>, std::vector<cv::Affine3d>
* - cv::Mat
* @param files_format Format specifier string for constructing filenames.
* The only placeholder in the string should support `int`.
* @param start The initial counter for files_format. It must be greater than or equal to 0.
* @param end The final counter for files_format.
* @param tag Name of the matrix in the file.
*/
CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose");
///////////////////////////////////////////////////////////////////////////////////////////////
/** Computing normals for mesh
* @param mesh Input mesh.
* @param normals Normals at very point in the mesh of type CV_64FC3.
*/
CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals);
//! @}
} /* namespace viz */
} /* namespace cv */
#endif /* OPENCV_VIZCORE_HPP */

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef OPENCV_VIZ_WIDGET_ACCESSOR_HPP
#define OPENCV_VIZ_WIDGET_ACCESSOR_HPP
#include <opencv2/core/cvdef.h>
#include <vtkSmartPointer.h>
#include <vtkProp.h>
namespace cv
{
namespace viz
{
//! @addtogroup viz_widget
//! @{
class Widget;
/** @brief This class is for users who want to develop their own widgets using VTK library API. :
*/
struct CV_EXPORTS WidgetAccessor
{
/** @brief Returns vtkProp of a given widget.
@param widget Widget whose vtkProp is to be returned.
@note vtkProp has to be down cast appropriately to be modified.
@code
vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget));
@endcode
*/
static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
/** @brief Sets vtkProp of a given widget.
@param widget Widget whose vtkProp is to be set. @param prop A vtkProp.
*/
static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
};
//! @}
}
}
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef OPENCV_VIZ_WIDGETS_HPP
#define OPENCV_VIZ_WIDGETS_HPP
#include <opencv2/viz/types.hpp>
namespace cv
{
namespace viz
{
//! @addtogroup viz_widget
//! @{
/////////////////////////////////////////////////////////////////////////////
/// Widget rendering properties
enum RenderingProperties
{
POINT_SIZE,
OPACITY,
LINE_WIDTH,
FONT_SIZE,
REPRESENTATION,
IMMEDIATE_RENDERING,
SHADING,
AMBIENT,
LIGHTING
};
enum RepresentationValues
{
REPRESENTATION_POINTS,
REPRESENTATION_WIREFRAME,
REPRESENTATION_SURFACE
};
enum ShadingValues
{
SHADING_FLAT,
SHADING_GOURAUD,
SHADING_PHONG
};
/////////////////////////////////////////////////////////////////////////////
/** @brief Base class of all widgets. Widget is implicitly shared.
*/
class CV_EXPORTS Widget
{
public:
Widget();
Widget(const Widget& other);
Widget& operator=(const Widget& other);
virtual ~Widget();
/** @brief Creates a widget from ply file.
@param file_name Ply file name.
*/
static Widget fromPlyFile(const String &file_name);
/** @brief Sets rendering property of the widget.
@param property Property that will be modified.
@param value The new value of the property.
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
IMMEDIATE_RENDERING:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**
*/
void setRenderingProperty(int property, double value);
/** @brief Returns rendering property of the widget.
@param property Property.
Rendering property can be one of the following:
- **POINT_SIZE**
- **OPACITY**
- **LINE_WIDTH**
- **FONT_SIZE**
- **AMBIENT**
REPRESENTATION: Expected values are
- **REPRESENTATION_POINTS**
- **REPRESENTATION_WIREFRAME**
- **REPRESENTATION_SURFACE**
**IMMEDIATE_RENDERING**:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
SHADING: Expected values are
- **SHADING_FLAT**
- **SHADING_GOURAUD**
- **SHADING_PHONG**
*/
double getRenderingProperty(int property) const;
/** @brief Casts a widget to another.
@code
// Create a sphere widget
viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f);
// Cast sphere widget to cloud widget
viz::WCloud cw = sw.cast<viz::WCloud>();
@endcode
@note 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.
*/
template<typename _W> _W cast() const;
private:
class Impl;
Impl *impl_;
friend struct WidgetAccessor;
};
/////////////////////////////////////////////////////////////////////////////
/** @brief Base class of all 3D widgets.
*/
class CV_EXPORTS Widget3D : public Widget
{
public:
Widget3D() {}
/** @brief Sets pose of the widget.
@param pose The new pose of the widget.
*/
void setPose(const Affine3d &pose);
/** @brief Updates pose of the widget by pre-multiplying its current pose.
@param pose The pose that the current pose of the widget will be pre-multiplied by.
*/
void updatePose(const Affine3d &pose);
/** @brief Returns the current pose of the widget.
*/
Affine3d getPose() const;
/** @brief Transforms internal widget data (i.e. points, normals) using the given transform.
@param transform Specified transformation to apply.
*/
void applyTransform(const Affine3d &transform);
/** @brief Sets the color of the widget.
@param color color of type Color
*/
void setColor(const Color &color);
};
/////////////////////////////////////////////////////////////////////////////
/** @brief Base class of all 2D widgets.
*/
class CV_EXPORTS Widget2D : public Widget
{
public:
Widget2D() {}
/** @brief Sets the color of the widget.
@param color color of type Color
*/
void setColor(const Color &color);
};
/////////////////////////////////////////////////////////////////////////////
/// Simple widgets
/** @brief This 3D Widget defines a finite line.
*/
class CV_EXPORTS WLine : public Widget3D
{
public:
/** @brief Constructs a WLine.
@param pt1 Start point of the line.
@param pt2 End point of the line.
@param color Color of the line.
*/
WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white());
};
/** @brief This 3D Widget defines a finite plane.
*/
class CV_EXPORTS WPlane : public Widget3D
{
public:
/** @brief Constructs a default plane with center point at origin and normal oriented along z-axis.
@param size Size of the plane
@param color Color of the plane.
*/
WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
/** @brief Constructs a repositioned plane
@param center Center of the plane
@param normal Plane normal orientation
@param new_yaxis Up-vector. New orientation of plane y-axis.
@param size
@param color Color of the plane.
*/
WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
};
/** @brief This 3D Widget defines a sphere. :
*/
class CV_EXPORTS WSphere : public Widget3D
{
public:
/** @brief Constructs a WSphere.
@param center Center of the sphere.
@param radius Radius of the sphere.
@param sphere_resolution Resolution of the sphere.
@param color Color of the sphere.
*/
WSphere(const cv::Point3d &center, double radius, int sphere_resolution = 10, const Color &color = Color::white());
};
/** @brief This 3D Widget defines an arrow.
*/
class CV_EXPORTS WArrow : public Widget3D
{
public:
/** @brief Constructs an WArrow.
@param pt1 Start point of the arrow.
@param pt2 End point of the arrow.
@param thickness Thickness of the arrow. Thickness of arrow head is also adjusted
accordingly.
@param color Color of the arrow.
Arrow head is located at the end point of the arrow.
*/
WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white());
};
/** @brief This 3D Widget defines a circle.
*/
class CV_EXPORTS WCircle : public Widget3D
{
public:
/** @brief Constructs default planar circle centered at origin with plane normal along z-axis
@param radius Radius of the circle.
@param thickness Thickness of the circle.
@param color Color of the circle.
*/
WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
/** @brief Constructs repositioned planar circle.
@param radius Radius of the circle.
@param center Center of the circle.
@param normal Normal of the plane in which the circle lies.
@param thickness Thickness of the circle.
@param color Color of the circle.
*/
WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
};
/** @brief This 3D Widget defines a cone. :
*/
class CV_EXPORTS WCone : public Widget3D
{
public:
/** @brief Constructs default cone oriented along x-axis with center of its base located at origin
@param length Length of the cone.
@param radius Radius of the cone.
@param resolution Resolution of the cone.
@param color Color of the cone.
*/
WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white());
/** @brief Constructs repositioned planar cone.
@param radius Radius of the cone.
@param center Center of the cone base.
@param tip Tip of the cone.
@param resolution Resolution of the cone.
@param color Color of the cone.
*/
WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
};
/** @brief This 3D Widget defines a cylinder. :
*/
class CV_EXPORTS WCylinder : public Widget3D
{
public:
/** @brief Constructs a WCylinder.
@param axis_point1 A point1 on the axis of the cylinder.
@param axis_point2 A point2 on the axis of the cylinder.
@param radius Radius of the cylinder.
@param numsides Resolution of the cylinder.
@param color Color of the cylinder.
*/
WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white());
};
/** @brief This 3D Widget defines a cube.
*/
class CV_EXPORTS WCube : public Widget3D
{
public:
/** @brief Constructs a WCube.
@param min_point Specifies minimum point of the bounding box.
@param max_point Specifies maximum point of the bounding box.
@param wire_frame If true, cube is represented as wireframe.
@param color Color of the cube.
![Cube Widget](images/cube_widget.png)
*/
WCube(const Point3d& min_point = Vec3d::all(-0.5), const Point3d& max_point = Vec3d::all(0.5),
bool wire_frame = true, const Color &color = Color::white());
};
/** @brief This 3D Widget defines a poly line. :
*/
class CV_EXPORTS WPolyLine : public Widget3D
{
public:
WPolyLine(InputArray points, InputArray colors);
/** @brief Constructs a WPolyLine.
@param points Point set.
@param color Color of the poly line.
*/
WPolyLine(InputArray points, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Text and image widgets
/** @brief This 2D Widget represents text overlay.
*/
class CV_EXPORTS WText : public Widget2D
{
public:
/** @brief Constructs a WText.
@param text Text content of the widget.
@param pos Position of the text.
@param font_size Font size.
@param color Color of the text.
*/
WText(const String &text, const Point &pos, int font_size = 20, const Color &color = Color::white());
/** @brief Sets the text content of the widget.
@param text Text content of the widget.
*/
void setText(const String &text);
/** @brief Returns the current text content of the widget.
*/
String getText() const;
};
/** @brief This 3D Widget represents 3D text. The text always faces the camera.
*/
class CV_EXPORTS WText3D : public Widget3D
{
public:
/** @brief Constructs a WText3D.
@param text Text content of the widget.
@param position Position of the text.
@param text_scale Size of the text.
@param face_camera If true, text always faces the camera.
@param color Color of the text.
*/
WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white());
/** @brief Sets the text content of the widget.
@param text Text content of the widget.
*/
void setText(const String &text);
/** @brief Returns the current text content of the widget.
*/
String getText() const;
};
/** @brief This 2D Widget represents an image overlay. :
*/
class CV_EXPORTS WImageOverlay : public Widget2D
{
public:
/** @brief Constructs an WImageOverlay.
@param image BGR or Gray-Scale image.
@param rect Image is scaled and positioned based on rect.
*/
WImageOverlay(InputArray image, const Rect &rect);
/** @brief Sets the image content of the widget.
@param image BGR or Gray-Scale image.
*/
void setImage(InputArray image);
};
/** @brief This 3D Widget represents an image in 3D space. :
*/
class CV_EXPORTS WImage3D : public Widget3D
{
public:
/** @brief Constructs an WImage3D.
@param image BGR or Gray-Scale image.
@param size Size of the image.
*/
WImage3D(InputArray image, const Size2d &size);
/** @brief Constructs an WImage3D.
@param image BGR or Gray-Scale image.
@param size Size of the image.
@param center Position of the image.
@param normal Normal of the plane that represents the image.
@param up_vector Determines orientation of the image.
*/
WImage3D(InputArray image, const Size2d &size, const Vec3d &center, const Vec3d &normal, const Vec3d &up_vector);
/** @brief Sets the image content of the widget.
@param image BGR or Gray-Scale image.
*/
void setImage(InputArray image);
/** @brief Sets the image size of the widget.
@param size the new size of the image.
*/
void setSize(const Size& size);
};
/////////////////////////////////////////////////////////////////////////////
/// Compound widgets
/** @brief This 3D Widget represents a coordinate system. :
*/
class CV_EXPORTS WCoordinateSystem : public Widget3D
{
public:
/** @brief Constructs a WCoordinateSystem.
@param scale Determines the size of the axes.
*/
WCoordinateSystem(double scale = 1.0);
};
/** @brief This 3D Widget defines a grid. :
*/
class CV_EXPORTS WGrid : public Widget3D
{
public:
/** @brief Constructs a WGrid.
@param cells Number of cell columns and rows, respectively.
@param cells_spacing Size of each cell, respectively.
@param color Color of the grid.
*/
WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
//! Creates repositioned grid
WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
};
/** @brief This 3D Widget represents camera position in a scene by its axes or viewing frustum. :
*/
class CV_EXPORTS WCameraPosition : public Widget3D
{
public:
/** @brief Creates camera coordinate frame at the origin.
![Camera coordinate frame](images/cpw1.png)
*/
WCameraPosition(double scale = 1.0);
/** @brief Display the viewing frustum
@param K Intrinsic matrix of the camera.
@param scale Scale of the frustum.
@param color Color of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K.
![Camera viewing frustum](images/cpw2.png)
*/
WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
/** @brief Display the viewing frustum
@param fov Field of view of the camera (horizontal, vertical).
@param scale Scale of the frustum.
@param color Color of the frustum.
Creates viewing frustum of the camera based on its field of view fov.
![Camera viewing frustum](images/cpw2.png)
*/
WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
/** @brief Display image on the far plane of the viewing frustum
@param K Intrinsic matrix of the camera.
@param image BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@param scale Scale of the frustum and image.
@param color Color of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on
the far end plane.
![Camera viewing frustum with image](images/cpw3.png)
*/
WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white());
/** @brief Display image on the far plane of the viewing frustum
@param fov Field of view of the camera (horizontal, vertical).
@param image BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@param scale Scale of the frustum and image.
@param color Color of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on
the far end plane.
![Camera viewing frustum with image](images/cpw3.png)
*/
WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Trajectories
/** @brief This 3D Widget represents a trajectory. :
*/
class CV_EXPORTS WTrajectory : public Widget3D
{
public:
enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH };
/** @brief Constructs a WTrajectory.
@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.
@param scale Scale of the frames. Polyline is not affected.
@param color Color of the polyline that represents path.
Frames are not affected.
Displays trajectory of the given path as follows:
- PATH : Displays a poly line that represents the path.
- FRAMES : Displays coordinate frames at each pose.
- PATH & FRAMES : Displays both poly line and coordinate frames.
*/
WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white());
};
/** @brief This 3D Widget represents a trajectory. :
*/
class CV_EXPORTS WTrajectoryFrustums : public Widget3D
{
public:
/** @brief Constructs a WTrajectoryFrustums.
@param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double]
@param K Intrinsic matrix of the camera.
@param scale Scale of the frustums.
@param color Color of the frustums.
Displays frustums at each pose of the trajectory.
*/
WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
/** @brief Constructs a WTrajectoryFrustums.
@param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double]
@param fov Field of view of the camera (horizontal, vertical).
@param scale Scale of the frustums.
@param color Color of the frustums.
Displays frustums at each pose of the trajectory.
*/
WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
};
/** @brief This 3D Widget represents a trajectory using spheres and lines
where spheres represent the positions of the camera, and lines represent the direction from
previous position to the current. :
*/
class CV_EXPORTS WTrajectorySpheres: public Widget3D
{
public:
/** @brief Constructs a WTrajectorySpheres.
@param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double]
@param line_length Max length of the lines which point to previous position
@param radius Radius of the spheres.
@param from Color for first sphere.
@param to Color for last sphere. Intermediate spheres will have interpolated color.
*/
WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007,
const Color &from = Color::red(), const Color &to = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Clouds
/** @brief This 3D Widget defines a point cloud. :
@note In case there are four channels in the cloud, fourth channel is ignored.
*/
class CV_EXPORTS WCloud: public Widget3D
{
public:
/** @brief Constructs a WCloud.
@param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
@param colors Set of colors. It has to be of the same size with cloud.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
*/
WCloud(InputArray cloud, InputArray colors);
/** @brief Constructs a WCloud.
@param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
@param color A single Color for the whole cloud.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
*/
WCloud(InputArray cloud, const Color &color = Color::white());
/** @brief Constructs a WCloud.
@param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
@param colors Set of colors. It has to be of the same size with cloud.
@param normals Normals for each point in cloud. Size and type should match with the cloud parameter.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
*/
WCloud(InputArray cloud, InputArray colors, InputArray normals);
/** @brief Constructs a WCloud.
@param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
@param color A single Color for the whole cloud.
@param normals Normals for each point in cloud.
Size and type should match with the cloud parameter.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
*/
WCloud(InputArray cloud, const Color &color, InputArray normals);
};
class CV_EXPORTS WPaintedCloud: public Widget3D
{
public:
//! Paint cloud with default gradient between cloud bounds points
WPaintedCloud(InputArray cloud);
//! Paint cloud with default gradient between given points
WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2);
//! Paint cloud with gradient specified by given colors between given points
WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2);
};
/** @brief This 3D Widget defines a collection of clouds. :
@note In case there are four channels in the cloud, fourth channel is ignored.
*/
class CV_EXPORTS WCloudCollection : public Widget3D
{
public:
WCloudCollection();
/** @brief Adds a cloud to the collection.
@param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
@param colors Set of colors. It has to be of the same size with cloud.
@param pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
*/
void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
/** @brief Adds a cloud to the collection.
@param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
@param color A single Color for the whole cloud.
@param pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
*/
void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity());
/** @brief Finalizes cloud data by repacking to single cloud.
Useful for large cloud collections to reduce memory usage
*/
void finalize();
};
/** @brief This 3D Widget represents normals of a point cloud. :
*/
class CV_EXPORTS WCloudNormals : public Widget3D
{
public:
/** @brief Constructs a WCloudNormals.
@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.
@param level Display only every level th normal.
@param scale Scale of the arrows that represent normals.
@param color Color of the arrows that represent normals.
@note In case there are four channels in the cloud, fourth channel is ignored.
*/
WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white());
};
/** @brief Constructs a WMesh.
@param mesh Mesh object that will be displayed.
@param cloud Points of the mesh object.
@param polygons Points of the mesh object.
@param colors Point colors.
@param normals Point normals.
*/
class CV_EXPORTS WMesh : public Widget3D
{
public:
WMesh(const Mesh &mesh);
WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
};
/** @brief This class allows to merge several widgets to single one.
It has quite limited functionality and can't merge widgets with different attributes. For
instance, if widgetA has color array and widgetB has only global color defined, then result
of merge won't have color at all. The class is suitable for merging large amount of similar
widgets. :
*/
class CV_EXPORTS WWidgetMerger : public Widget3D
{
public:
WWidgetMerger();
//! Add widget to merge with optional position change
void addWidget(const Widget3D& widget, const Affine3d &pose = Affine3d::Identity());
//! Repacks internal structure to single widget
void finalize();
};
/////////////////////////////////////////////////////////////////////////////
/// Utility exports
template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>() const;
template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>() const;
template<> CV_EXPORTS WLine Widget::cast<WLine>() const;
template<> CV_EXPORTS WPlane Widget::cast<WPlane>() const;
template<> CV_EXPORTS WSphere Widget::cast<WSphere>() const;
template<> CV_EXPORTS WCylinder Widget::cast<WCylinder>() const;
template<> CV_EXPORTS WArrow Widget::cast<WArrow>() const;
template<> CV_EXPORTS WCircle Widget::cast<WCircle>() const;
template<> CV_EXPORTS WCone Widget::cast<WCone>() const;
template<> CV_EXPORTS WCube Widget::cast<WCube>() const;
template<> CV_EXPORTS WCoordinateSystem Widget::cast<WCoordinateSystem>() const;
template<> CV_EXPORTS WPolyLine Widget::cast<WPolyLine>() const;
template<> CV_EXPORTS WGrid Widget::cast<WGrid>() const;
template<> CV_EXPORTS WText3D Widget::cast<WText3D>() const;
template<> CV_EXPORTS WText Widget::cast<WText>() const;
template<> CV_EXPORTS WImageOverlay Widget::cast<WImageOverlay>() const;
template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>() const;
template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>() const;
template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>() const;
template<> CV_EXPORTS WTrajectoryFrustums Widget::cast<WTrajectoryFrustums>() const;
template<> CV_EXPORTS WTrajectorySpheres Widget::cast<WTrajectorySpheres>() const;
template<> CV_EXPORTS WCloud Widget::cast<WCloud>() const;
template<> CV_EXPORTS WPaintedCloud Widget::cast<WPaintedCloud>() const;
template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>() const;
template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>() const;
template<> CV_EXPORTS WMesh Widget::cast<WMesh>() const;
template<> CV_EXPORTS WWidgetMerger Widget::cast<WWidgetMerger>() const;
//! @}
} /* namespace viz */
} /* namespace cv */
#endif

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modules/viz/src/clouds.cpp
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@ -1,530 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "precomp.hpp"
///////////////////////////////////////////////////////////////////////////////////////////////
/// Point Cloud Widget implementation
cv::viz::WCloud::WCloud(InputArray cloud, InputArray colors)
{
WCloud cloud_widget(cloud, colors, cv::noArray());
*this = cloud_widget;
}
cv::viz::WCloud::WCloud(InputArray cloud, const Color &color)
{
WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color));
*this = cloud_widget;
}
cv::viz::WCloud::WCloud(InputArray cloud, const Color &color, InputArray normals)
{
WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color), normals);
*this = cloud_widget;
}
cv::viz::WCloud::WCloud(cv::InputArray cloud, cv::InputArray colors, cv::InputArray normals)
{
CV_Assert(!cloud.empty() && !colors.empty());
vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
cloud_source->SetColorCloudNormals(cloud, colors, normals);
cloud_source->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, cloud_source->GetOutput());
mapper->SetScalarModeToUsePointData();
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
mapper->SetScalarRange(0, 255);
mapper->ScalarVisibilityOn();
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
template<> cv::viz::WCloud cv::viz::Widget::cast<cv::viz::WCloud>() const
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WCloud&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Painted Cloud Widget implementation
cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud)
{
vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
cloud_source->SetCloud(cloud);
cloud_source->Update();
Vec6d bounds(cloud_source->GetOutput()->GetPoints()->GetBounds());
vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
elevation->SetInputConnection(cloud_source->GetOutputPort());
elevation->SetLowPoint(bounds[0], bounds[2], bounds[4]);
elevation->SetHighPoint(bounds[1], bounds[3], bounds[5]);
elevation->SetScalarRange(0.0, 1.0);
elevation->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
mapper->ScalarVisibilityOn();
mapper->SetColorModeToMapScalars();
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2)
{
vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
cloud_source->SetCloud(cloud);
vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
elevation->SetInputConnection(cloud_source->GetOutputPort());
elevation->SetLowPoint(p1.x, p1.y, p1.z);
elevation->SetHighPoint(p2.x, p2.y, p2.z);
elevation->SetScalarRange(0.0, 1.0);
elevation->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
mapper->ScalarVisibilityOn();
mapper->SetColorModeToMapScalars();
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2)
{
vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
cloud_source->SetCloud(cloud);
vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
elevation->SetInputConnection(cloud_source->GetOutputPort());
elevation->SetLowPoint(p1.x, p1.y, p1.z);
elevation->SetHighPoint(p2.x, p2.y, p2.z);
elevation->SetScalarRange(0.0, 1.0);
elevation->Update();
Color vc1 = vtkcolor(c1), vc2 = vtkcolor(c2);
vtkSmartPointer<vtkColorTransferFunction> color_transfer = vtkSmartPointer<vtkColorTransferFunction>::New();
color_transfer->SetColorSpaceToRGB();
color_transfer->AddRGBPoint(0.0, vc1[0], vc1[1], vc1[2]);
color_transfer->AddRGBPoint(1.0, vc2[0], vc2[1], vc2[2]);
color_transfer->SetScaleToLinear();
color_transfer->Build();
//if in future some need to replace color table with real scalars, then this can be done usine next calls:
//vtkDataArray *float_scalars = vtkPolyData::SafeDownCast(elevation->GetOutput())->GetPointData()->GetArray("Elevation");
//vtkSmartPointer<vtkPolyData> polydata = cloud_source->GetOutput();
//polydata->GetPointData()->SetScalars(color_transfer->MapScalars(float_scalars, VTK_COLOR_MODE_DEFAULT, 0));
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
mapper->ScalarVisibilityOn();
mapper->SetColorModeToMapScalars();
mapper->SetLookupTable(color_transfer);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
template<> cv::viz::WPaintedCloud cv::viz::Widget::cast<cv::viz::WPaintedCloud>() const
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WPaintedCloud&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Cloud Collection Widget implementation
cv::viz::WCloudCollection::WCloudCollection()
{
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(append_filter->GetOutputPort());
mapper->SetScalarModeToUsePointData();
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
mapper->SetScalarRange(0, 255);
mapper->ScalarVisibilityOn();
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetNumberOfCloudPoints(1);
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, const Affine3d &pose)
{
vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
source->SetColorCloud(cloud, colors);
vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(source->GetOutputPort(), pose);
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Correctness check." && actor);
vtkSmartPointer<vtkAlgorithm> producer = actor->GetMapper()->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
VtkUtils::AddInputData(append_filter, polydata);
actor->SetNumberOfCloudPoints(std::max<vtkIdType>(1, actor->GetNumberOfCloudPoints() + polydata->GetNumberOfPoints()/10));
}
void cv::viz::WCloudCollection::addCloud(InputArray cloud, const Color &color, const Affine3d &pose)
{
addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose);
}
void cv::viz::WCloudCollection::finalize()
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Incompatible widget type." && actor);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
CV_Assert("Need to add at least one cloud." && mapper);
vtkSmartPointer<vtkAlgorithm> producer = mapper->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
append_filter->Update();
vtkSmartPointer<vtkPolyData> polydata = append_filter->GetOutput();
mapper->RemoveInputConnection(0, 0);
VtkUtils::SetInputData(mapper, polydata);
}
template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>() const
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WCloudCollection&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Cloud Normals Widget implementation
cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, double 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());
int sqlevel = (int)std::sqrt((double)level);
int ystep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : 1;
int xstep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : level;
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
points->SetDataType(cloud.depth() == CV_32F ? VTK_FLOAT : VTK_DOUBLE);
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
int s_chs = cloud.channels();
int n_chs = normals.channels();
int total = 0;
for(int y = 0; y < cloud.rows; y += ystep)
{
if (cloud.depth() == CV_32F)
{
const float *srow = cloud.ptr<float>(y);
const float *send = srow + cloud.cols * s_chs;
const float *nrow = normals.ptr<float>(y);
for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
if (!isNan(srow) && !isNan(nrow))
{
Vec3f endp = Vec3f(srow) + Vec3f(nrow) * (float)scale;
points->InsertNextPoint(srow);
points->InsertNextPoint(endp.val);
lines->InsertNextCell(2);
lines->InsertCellPoint(total++);
lines->InsertCellPoint(total++);
}
}
else
{
const double *srow = cloud.ptr<double>(y);
const double *send = srow + cloud.cols * s_chs;
const double *nrow = normals.ptr<double>(y);
for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
if (!isNan(srow) && !isNan(nrow))
{
Vec3d endp = Vec3d(srow) + Vec3d(nrow) * (double)scale;
points->InsertNextPoint(srow);
points->InsertNextPoint(endp.val);
lines->InsertNextCell(2);
lines->InsertCellPoint(total++);
lines->InsertCellPoint(total++);
}
}
}
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
polydata->SetPoints(points);
polydata->SetLines(lines);
VtkUtils::FillScalars(polydata, color);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
VtkUtils::SetInputData(mapper, polydata);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
template<> cv::viz::WCloudNormals cv::viz::Widget::cast<cv::viz::WCloudNormals>() const
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WCloudNormals&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Mesh Widget implementation
cv::viz::WMesh::WMesh(const Mesh &mesh)
{
CV_Assert(mesh.cloud.rows == 1 && mesh.polygons.type() == CV_32SC1);
vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
source->SetColorCloudNormalsTCoords(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
source->Update();
Mat lookup_buffer(1, (int)mesh.cloud.total(), CV_32SC1);
int *lookup = lookup_buffer.ptr<int>();
for(int y = 0, index = 0; y < mesh.cloud.rows; ++y)
{
int s_chs = mesh.cloud.channels();
if (mesh.cloud.depth() == CV_32F)
{
const float* srow = mesh.cloud.ptr<float>(y);
const float* send = srow + mesh.cloud.cols * s_chs;
for (; srow != send; srow += s_chs, ++lookup)
if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
*lookup = index++;
}
if (mesh.cloud.depth() == CV_64F)
{
const double* srow = mesh.cloud.ptr<double>(y);
const double* send = srow + mesh.cloud.cols * s_chs;
for (; srow != send; srow += s_chs, ++lookup)
if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
*lookup = index++;
}
}
lookup = lookup_buffer.ptr<int>();
vtkSmartPointer<vtkPolyData> polydata = source->GetOutput();
polydata->SetVerts(0);
const int * polygons = mesh.polygons.ptr<int>();
vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New();
int idx = 0;
size_t polygons_size = mesh.polygons.total();
for (size_t i = 0; i < polygons_size; ++idx)
{
int n_points = polygons[i++];
cell_array->InsertNextCell(n_points);
for (int j = 0; j < n_points; ++j, ++idx)
cell_array->InsertCellPoint(lookup[polygons[i++]]);
}
cell_array->GetData()->SetNumberOfValues(idx);
cell_array->Squeeze();
polydata->SetStrips(cell_array);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetScalarModeToUsePointData();
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
VtkUtils::SetInputData(mapper, polydata);
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
//actor->SetNumberOfCloudPoints(std::max(1, polydata->GetNumberOfPoints() / 10));
actor->GetProperty()->SetRepresentationToSurface();
actor->GetProperty()->BackfaceCullingOff(); // Backface culling is off for higher efficiency
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->EdgeVisibilityOff();
actor->GetProperty()->ShadingOff();
actor->SetMapper(mapper);
if (!mesh.texture.empty())
{
vtkSmartPointer<vtkImageMatSource> image_source = vtkSmartPointer<vtkImageMatSource>::New();
image_source->SetImage(mesh.texture);
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
texture->SetInputConnection(image_source->GetOutputPort());
actor->SetTexture(texture);
}
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WMesh::WMesh(InputArray cloud, InputArray polygons, InputArray colors, InputArray normals)
{
Mesh mesh;
mesh.cloud = cloud.getMat();
mesh.colors = colors.getMat();
mesh.normals = normals.getMat();
mesh.polygons = polygons.getMat();
*this = WMesh(mesh);
}
template<> CV_EXPORTS cv::viz::WMesh cv::viz::Widget::cast<cv::viz::WMesh>() const
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WMesh&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Widget Merger implementation
cv::viz::WWidgetMerger::WWidgetMerger()
{
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(append_filter->GetOutputPort());
mapper->SetScalarModeToUsePointData();
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
mapper->SetScalarRange(0, 255);
mapper->ScalarVisibilityOn();
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
void cv::viz::WWidgetMerger::addWidget(const Widget3D& widget, const Affine3d &pose)
{
vtkActor *widget_actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(widget));
CV_Assert("Widget is not 3D actor." && widget_actor);
vtkSmartPointer<vtkPolyDataMapper> widget_mapper = vtkPolyDataMapper::SafeDownCast(widget_actor->GetMapper());
CV_Assert("Widget doesn't have a polydata mapper" && widget_mapper);
widget_mapper->Update();
vtkSmartPointer<vtkActor> actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
vtkSmartPointer<vtkAlgorithm> producer = actor->GetMapper()->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
CV_Assert("Correctness check" && append_filter);
VtkUtils::AddInputData(append_filter, VtkUtils::TransformPolydata(widget_mapper->GetInput(), pose));
}
void cv::viz::WWidgetMerger::finalize()
{
vtkSmartPointer<vtkActor> actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
vtkSmartPointer<vtkAlgorithm> producer = actor->GetMapper()->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
CV_Assert("Correctness check" && append_filter);
append_filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
mapper->RemoveInputConnection(0, 0);
VtkUtils::SetInputData(mapper, append_filter->GetOutput());
mapper->Modified();
}
template<> CV_EXPORTS cv::viz::WWidgetMerger cv::viz::Widget::cast<cv::viz::WWidgetMerger>() const
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WWidgetMerger&>(widget);
}

343
modules/viz/src/precomp.hpp
Unescape View File

@ -1,343 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __OPENCV_VIZ_PRECOMP_HPP__
#define __OPENCV_VIZ_PRECOMP_HPP__
#include <map>
#include <ctime>
#include <list>
#include <vector>
#include <iomanip>
#include <limits>
#include <vtkAppendPolyData.h>
#include <vtkAssemblyPath.h>
#include <vtkCellData.h>
#include <vtkLineSource.h>
#include <vtkPropPicker.h>
#include <vtkSmartPointer.h>
#include <vtkDataSet.h>
#include <vtkPolygon.h>
#include <vtkUnstructuredGrid.h>
#include <vtkDiskSource.h>
#include <vtkPlaneSource.h>
#include <vtkSphereSource.h>
#include <vtkArrowSource.h>
#include <vtkOutlineSource.h>
#include <vtkTransform.h>
#include <vtkTransformPolyDataFilter.h>
#include <vtkTubeFilter.h>
#include <vtkCubeSource.h>
#include <vtkAxes.h>
#include <vtkFloatArray.h>
#include <vtkDoubleArray.h>
#include <vtkPointData.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkDataSetMapper.h>
#include <vtkCellArray.h>
#include <vtkCommand.h>
#include <vtkPLYReader.h>
#include <vtkPolyLine.h>
#include <vtkVectorText.h>
#include <vtkFollower.h>
#include <vtkInteractorStyle.h>
#include <vtkUnsignedCharArray.h>
#include <vtkRendererCollection.h>
#include <vtkPNGWriter.h>
#include <vtkWindowToImageFilter.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkProperty.h>
#include <vtkCamera.h>
#include <vtkPlanes.h>
#include <vtkImageFlip.h>
#include <vtkRenderWindow.h>
#include <vtkTextProperty.h>
#include <vtkProperty2D.h>
#include <vtkLODActor.h>
#include <vtkActor.h>
#include <vtkTextActor.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkMath.h>
#include <vtkExtractEdges.h>
#include <vtkFrustumSource.h>
#include <vtkTexture.h>
#include <vtkTextureMapToPlane.h>
#include <vtkPolyDataNormals.h>
#include <vtkAlgorithmOutput.h>
#include <vtkImageMapper.h>
#include <vtkPoints.h>
#include <vtkInformation.h>
#include <vtkInformationVector.h>
#include <vtkObjectFactory.h>
#include <vtkPolyDataAlgorithm.h>
#include <vtkMergeFilter.h>
#include <vtkErrorCode.h>
#include <vtkPLYWriter.h>
#include <vtkSTLWriter.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkSTLReader.h>
#include <vtkPNGReader.h>
#include <vtkOBJExporter.h>
#include <vtkVRMLExporter.h>
#include <vtkTensorGlyph.h>
#include <vtkImageAlgorithm.h>
#include <vtkTransformFilter.h>
#include <vtkConeSource.h>
#include <vtkElevationFilter.h>
#include <vtkColorTransferFunction.h>
#include <vtkStreamingDemandDrivenPipeline.h>
#include <vtkLight.h>
#include "vtkCallbackCommand.h"
#if !defined(_WIN32) || defined(__CYGWIN__)
# include <unistd.h> /* unlink */
#else
# include <io.h> /* unlink */
#endif
#include "vtk/vtkOBJWriter.h"
#include "vtk/vtkXYZWriter.h"
#include "vtk/vtkXYZReader.h"
#include "vtk/vtkCloudMatSink.h"
#include "vtk/vtkCloudMatSource.h"
#include "vtk/vtkTrajectorySource.h"
#include "vtk/vtkImageMatSource.h"
#include <opencv2/core.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/viz/widget_accessor.hpp>
#include <opencv2/core/utility.hpp>
namespace cv
{
namespace viz
{
typedef std::map<String, vtkSmartPointer<vtkProp> > WidgetActorMap;
struct VizMap
{
typedef std::map<String, Viz3d> type;
typedef type::iterator iterator;
type m;
~VizMap();
void replace_clear();
};
class VizStorage
{
public:
static void unregisterAll();
//! window names automatically have Viz - prefix even though not provided by the users
static String generateWindowName(const String &window_name);
private:
VizStorage(); // Static
static void add(const Viz3d& window);
static Viz3d& get(const String &window_name);
static void remove(const String &window_name);
static bool windowExists(const String &window_name);
static void removeUnreferenced();
static VizMap storage;
friend class Viz3d;
static VizStorage init;
};
template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/norm(v); }
template<typename _Tp> inline bool isNan(const _Tp* data)
{
return isNan(data[0]) || isNan(data[1]) || isNan(data[2]);
}
inline vtkSmartPointer<vtkActor> getActor(const Widget3D& widget)
{
return vtkActor::SafeDownCast(WidgetAccessor::getProp(widget));
}
inline vtkSmartPointer<vtkPolyData> getPolyData(const Widget3D& widget)
{
vtkSmartPointer<vtkMapper> mapper = getActor(widget)->GetMapper();
return vtkPolyData::SafeDownCast(mapper->GetInput());
}
inline vtkSmartPointer<vtkMatrix4x4> vtkmatrix(const cv::Matx44d &matrix)
{
vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
vtk_matrix->DeepCopy(matrix.val);
return vtk_matrix;
}
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 get_random_vec(double from = -10.0, double to = 10.0)
{
RNG& rng = theRNG();
return Vec3d(rng.uniform(from, to), rng.uniform(from, to), rng.uniform(from, to));
}
struct VtkUtils
{
template<class Filter>
static void SetInputData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata)
{
#if VTK_MAJOR_VERSION <= 5
filter->SetInput(polydata);
#else
filter->SetInputData(polydata);
#endif
}
template<class Filter>
static void SetSourceData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata)
{
#if VTK_MAJOR_VERSION <= 5
filter->SetSource(polydata);
#else
filter->SetSourceData(polydata);
#endif
}
template<class Filter>
static void SetInputData(vtkSmartPointer<Filter> filter, vtkImageData* polydata)
{
#if VTK_MAJOR_VERSION <= 5
filter->SetInput(polydata);
#else
filter->SetInputData(polydata);
#endif
}
template<class Filter>
static void AddInputData(vtkSmartPointer<Filter> filter, vtkPolyData *polydata)
{
#if VTK_MAJOR_VERSION <= 5
filter->AddInput(polydata);
#else
filter->AddInputData(polydata);
#endif
}
static vtkSmartPointer<vtkUnsignedCharArray> FillScalars(size_t size, const Color& color)
{
Vec3b rgb = Vec3d(color[2], color[1], color[0]);
Vec3b* color_data = new Vec3b[size];
std::fill(color_data, color_data + size, rgb);
vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
scalars->SetName("Colors");
scalars->SetNumberOfComponents(3);
scalars->SetNumberOfTuples((vtkIdType)size);
scalars->SetArray(color_data->val, (vtkIdType)(size * 3), 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
return scalars;
}
static vtkSmartPointer<vtkPolyData> FillScalars(vtkSmartPointer<vtkPolyData> polydata, const Color& color)
{
return polydata->GetPointData()->SetScalars(FillScalars(polydata->GetNumberOfPoints(), color)), polydata;
}
static vtkSmartPointer<vtkPolyData> ComputeNormals(vtkSmartPointer<vtkPolyData> polydata)
{
vtkSmartPointer<vtkPolyDataNormals> normals_generator = vtkSmartPointer<vtkPolyDataNormals>::New();
normals_generator->ComputePointNormalsOn();
normals_generator->ComputeCellNormalsOff();
normals_generator->SetFeatureAngle(0.1);
normals_generator->SetSplitting(0);
normals_generator->SetConsistency(1);
normals_generator->SetAutoOrientNormals(0);
normals_generator->SetFlipNormals(0);
normals_generator->SetNonManifoldTraversal(1);
VtkUtils::SetInputData(normals_generator, polydata);
normals_generator->Update();
return normals_generator->GetOutput();
}
static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkAlgorithmOutput> algorithm_output_port, const Affine3d& pose)
{
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->SetMatrix(vtkmatrix(pose.matrix));
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform);
transform_filter->SetInputConnection(algorithm_output_port);
transform_filter->Update();
return transform_filter->GetOutput();
}
static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkPolyData> polydata, const Affine3d& pose)
{
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->SetMatrix(vtkmatrix(pose.matrix));
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
VtkUtils::SetInputData(transform_filter, polydata);
transform_filter->SetTransform(transform);
transform_filter->Update();
return transform_filter->GetOutput();
}
};
vtkSmartPointer<vtkRenderWindowInteractor> vtkCocoaRenderWindowInteractorNew();
}
}
#include "vtk/vtkVizInteractorStyle.hpp"
#include "vizimpl.hpp"
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "precomp.hpp"
////////////////////////////////////////////////////////////////////
/// Events
cv::viz::KeyboardEvent::KeyboardEvent(Action _action, const String& _symbol, unsigned char _code, int _modifiers)
: action(_action), symbol(_symbol), code(_code), modifiers(_modifiers) {}
cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, const Point& _pointer, int _modifiers)
: type(_type), button(_button), pointer(_pointer), modifiers(_modifiers) {}
////////////////////////////////////////////////////////////////////
/// cv::viz::Mesh3d
cv::viz::Mesh cv::viz::Mesh::load(const String& file, int type)
{
vtkSmartPointer<vtkPolyDataAlgorithm> reader = vtkSmartPointer<vtkPolyDataAlgorithm>::New();
switch (type) {
case LOAD_AUTO:
{
CV_Error(Error::StsError, "cv::viz::Mesh::LOAD_AUTO: Not implemented yet");
}
case LOAD_PLY:
{
vtkSmartPointer<vtkPLYReader> ply_reader = vtkSmartPointer<vtkPLYReader>::New();
ply_reader->SetFileName(file.c_str());
ply_reader->Update();
reader = ply_reader;
break;
}
case LOAD_OBJ:
{
vtkSmartPointer<vtkOBJReader> obj_reader = vtkSmartPointer<vtkOBJReader>::New();
obj_reader->SetFileName(file.c_str());
obj_reader->Update();
reader = obj_reader;
break;
}
default:
CV_Error(Error::StsError, "cv::viz::Mesh::load: Unknown file type");
}
vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput();
CV_Assert("File does not exist or file format is not supported." && polydata);
Mesh mesh;
vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
sink->SetInputConnection(reader->GetOutputPort());
sink->Write();
// Now handle the polygons
vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
int* poly_ptr = mesh.polygons.ptr<int>();
polygons->InitTraversal();
vtkIdType nr_cell_points, *cell_points;
while (polygons->GetNextCell(nr_cell_points, cell_points))
{
*poly_ptr++ = nr_cell_points;
for (vtkIdType i = 0; i < nr_cell_points; ++i)
*poly_ptr++ = (int)cell_points[i];
}
return mesh;
}
////////////////////////////////////////////////////////////////////
/// Camera implementation
cv::viz::Camera::Camera(double fx, double fy, double cx, double cy, const Size &window_size)
{
init(fx, fy, cx, cy, window_size);
}
cv::viz::Camera::Camera(const Vec2d &fov, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01)); // Default clipping
setFov(fov);
window_size_ = window_size;
// Principal point at the center
principal_point_ = Vec2f(static_cast<float>(window_size.width)*0.5f, static_cast<float>(window_size.height)*0.5f);
focal_ = Vec2f(principal_point_[0] / tan(fov_[0]*0.5f), principal_point_[1] / tan(fov_[1]*0.5f));
}
cv::viz::Camera::Camera(const cv::Matx33d & K, const Size &window_size)
{
double f_x = K(0,0);
double f_y = K(1,1);
double c_x = K(0,2);
double c_y = K(1,2);
init(f_x, f_y, c_x, c_y, window_size);
}
cv::viz::Camera::Camera(const Matx44d &proj, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
double near = proj(2,3) / (proj(2,2) - 1.0);
double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
double left = near * (proj(0,2)-1) / proj(0,0);
double right = 2.0 * near / proj(0,0) + left;
double bottom = near * (proj(1,2)-1) / proj(1,1);
double top = 2.0 * near / proj(1,1) + bottom;
double epsilon = 2.2204460492503131e-16;
principal_point_[0] = fabs(left-right) < epsilon ? window_size.width * 0.5 : (left * window_size.width) / (left - right);
principal_point_[1] = fabs(top-bottom) < epsilon ? window_size.height * 0.5 : (top * window_size.height) / (top - bottom);
focal_[0] = -near * principal_point_[0] / left;
focal_[1] = near * principal_point_[1] / top;
setClip(Vec2d(near, far));
fov_[0] = atan2(principal_point_[0], focal_[0]) + atan2(window_size.width-principal_point_[0], focal_[0]);
fov_[1] = atan2(principal_point_[1], focal_[1]) + atan2(window_size.height-principal_point_[1], focal_[1]);
window_size_ = window_size;
}
void cv::viz::Camera::init(double fx, double fy, double cx, double cy, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01));// Default clipping
fov_[0] = atan2(cx, fx) + atan2(window_size.width - cx, fx);
fov_[1] = atan2(cy, fy) + atan2(window_size.height - cy, fy);
principal_point_[0] = cx;
principal_point_[1] = cy;
focal_[0] = fx;
focal_[1] = fy;
window_size_ = window_size;
}
void cv::viz::Camera::setWindowSize(const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
// Get the scale factor and update the principal points
float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width);
float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
principal_point_[0] *= scalex;
principal_point_[1] *= scaley;
focal_ *= scaley;
// Vertical field of view is fixed! Update horizontal field of view
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
window_size_ = window_size;
}
void cv::viz::Camera::computeProjectionMatrix(Matx44d &proj) const
{
double top = clip_[0] * principal_point_[1] / focal_[1];
double left = -clip_[0] * principal_point_[0] / focal_[0];
double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
double temp1 = 2.0 * clip_[0];
double temp2 = 1.0 / (right - left);
double temp3 = 1.0 / (top - bottom);
double temp4 = 1.0 / (clip_[0] - clip_[1]);
proj = Matx44d::zeros();
proj(0,0) = temp1 * temp2;
proj(1,1) = temp1 * temp3;
proj(0,2) = (right + left) * temp2;
proj(1,2) = (top + bottom) * temp3;
proj(2,2) = (clip_[1]+clip_[0]) * temp4;
proj(3,2) = -1.0;
proj(2,3) = (temp1 * clip_[1]) * temp4;
}
cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
{
Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0);
return Camera(K, window_size);
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "precomp.hpp"
cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name); }
cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_)
{
if (impl_)
CV_XADD(&impl_->ref_counter, 1);
}
cv::viz::Viz3d& cv::viz::Viz3d::operator=(const Viz3d& other)
{
if (this != &other)
{
release();
impl_ = other.impl_;
if (impl_)
CV_XADD(&impl_->ref_counter, 1);
}
return *this;
}
cv::viz::Viz3d::~Viz3d() { release(); }
void cv::viz::Viz3d::create(const String &window_name)
{
if (impl_)
release();
if (VizStorage::windowExists(window_name))
*this = VizStorage::get(window_name);
else
{
impl_ = new VizImpl(window_name);
impl_->ref_counter = 1;
// Register the window
VizStorage::add(*this);
}
}
void cv::viz::Viz3d::release()
{
if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
{
delete impl_;
impl_ = 0;
}
if (impl_ && impl_->ref_counter == 1)
VizStorage::removeUnreferenced();
impl_ = 0;
}
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::setOffScreenRendering() { impl_->setOffScreenRendering(); }
void cv::viz::Viz3d::removeAllLights() { impl_->removeAllLights(); }
void cv::viz::Viz3d::addLight(const Vec3d &position, const Vec3d &focalPoint, const Color &color,
const Color &diffuseColor, const Color &ambientColor, const Color &specularColor)
{ impl_->addLight(position, focalPoint, color, diffuseColor, ambientColor, specularColor); }
bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); }
void cv::viz::Viz3d::close() { impl_->close(); }
void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* cookie)
{ impl_->registerKeyboardCallback(callback, cookie); }
void cv::viz::Viz3d::registerMouseCallback(MouseCallback callback, void* cookie)
{ impl_->registerMouseCallback(callback, cookie); }
void cv::viz::Viz3d::showWidget(const String &id, const Widget &widget, const Affine3d &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::removeAllWidgets() { impl_->removeAllWidgets(); }
void cv::viz::Viz3d::showImage(InputArray image, const Size& window_size) { impl_->showImage(image, window_size); }
void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3d &pose) { impl_->setWidgetPose(id, pose); }
void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3d &pose) { impl_->updateWidgetPose(id, pose); }
cv::Affine3d cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
void cv::viz::Viz3d::setCamera(const Camera &camera) { impl_->setCamera(camera); }
cv::viz::Camera cv::viz::Viz3d::getCamera() const { return impl_->getCamera(); }
void cv::viz::Viz3d::setViewerPose(const Affine3d &pose) { impl_->setViewerPose(pose); }
cv::Affine3d cv::viz::Viz3d::getViewerPose() const { return impl_->getViewerPose(); }
void cv::viz::Viz3d::resetCameraViewpoint(const String &id) { impl_->resetCameraViewpoint(id); }
void cv::viz::Viz3d::resetCamera() { impl_->resetCamera(); }
void cv::viz::Viz3d::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
void cv::viz::Viz3d::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) { impl_->converTo3DRay(window_coord, origin, direction); }
cv::Size cv::viz::Viz3d::getWindowSize() const { return impl_->getWindowSize(); }
void cv::viz::Viz3d::setWindowSize(const Size &window_size) { impl_->setWindowSize(window_size); }
cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
cv::Mat cv::viz::Viz3d::getScreenshot() const { return impl_->getScreenshot(); }
void cv::viz::Viz3d::saveScreenshot(const String &file) { impl_->saveScreenshot(file); }
void cv::viz::Viz3d::setWindowPosition(const Point& window_position) { impl_->setWindowPosition(window_position); }
void cv::viz::Viz3d::setFullScreen(bool mode) { impl_->setFullScreen(mode); }
void cv::viz::Viz3d::setBackgroundColor(const Color& color, const Color& color2) { impl_->setBackgroundColor(color, color2); }
void cv::viz::Viz3d::setBackgroundTexture(InputArray image) { impl_->setBackgroundTexture(image); }
void cv::viz::Viz3d::setBackgroundMeshLab() {impl_->setBackgroundMeshLab(); }
void cv::viz::Viz3d::setRenderingProperty(const String &id, int property, double value) { getWidget(id).setRenderingProperty(property, value); }
double cv::viz::Viz3d::getRenderingProperty(const String &id, int property) { return getWidget(id).getRenderingProperty(property); }
void cv::viz::Viz3d::setRepresentation(int representation) { impl_->setRepresentation(representation); }
void cv::viz::Viz3d::setGlobalWarnings(bool enabled) { vtkObject::SetGlobalWarningDisplay(enabled ? 1 : 0); }

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "precomp.hpp"
cv::Affine3d cv::viz::makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin)
{
Affine3d::Mat3 R(axis_x[0], axis_y[0], axis_z[0],
axis_x[1], axis_y[1], axis_z[1],
axis_x[2], axis_y[2], axis_z[2]);
return Affine3d(R, origin);
}
cv::Affine3d cv::viz::makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir)
{
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3d n = normalize(focal_point - position);
Vec3d u = normalize(y_dir.cross(n));
Vec3d v = n.cross(u);
return makeTransformToGlobal(u, v, n, position);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// VizStorage implementation
#if defined(_WIN32) && !defined(__CYGWIN__)
#include <windows.h>
static BOOL WINAPI ConsoleHandlerRoutine(DWORD /*dwCtrlType*/)
{
vtkObject::GlobalWarningDisplayOff();
return FALSE;
}
static void register_console_handler()
{
HANDLE hOut = GetStdHandle(STD_OUTPUT_HANDLE);
CONSOLE_SCREEN_BUFFER_INFO hOutInfo;
if (GetConsoleScreenBufferInfo(hOut, &hOutInfo))
SetConsoleCtrlHandler(ConsoleHandlerRoutine, TRUE);
}
#else
void register_console_handler();
void register_console_handler() {}
#endif
cv::viz::VizStorage cv::viz::VizStorage::init;
cv::viz::VizMap cv::viz::VizStorage::storage;
void cv::viz::VizMap::replace_clear() { type().swap(m); }
cv::viz::VizMap::~VizMap() { replace_clear(); }
cv::viz::VizStorage::VizStorage()
{
register_console_handler();
}
void cv::viz::VizStorage::unregisterAll() { storage.replace_clear(); }
cv::viz::Viz3d& cv::viz::VizStorage::get(const String &window_name)
{
String name = generateWindowName(window_name);
VizMap::iterator vm_itr = storage.m.find(name);
CV_Assert(vm_itr != storage.m.end());
return vm_itr->second;
}
void cv::viz::VizStorage::add(const Viz3d& window)
{
String window_name = window.getWindowName();
VizMap::iterator vm_itr = storage.m.find(window_name);
CV_Assert(vm_itr == storage.m.end());
storage.m.insert(std::make_pair(window_name, window));
}
bool cv::viz::VizStorage::windowExists(const String &window_name)
{
String name = generateWindowName(window_name);
return storage.m.find(name) != storage.m.end();
}
void cv::viz::VizStorage::removeUnreferenced()
{
for(VizMap::iterator pos = storage.m.begin(); pos != storage.m.end();)
if(pos->second.impl_->ref_counter == 1)
storage.m.erase(pos++);
else
++pos;
}
cv::String cv::viz::VizStorage::generateWindowName(const String &window_name)
{
String output = "Viz";
// Already is Viz
if (window_name == output)
return output;
String prefixed = output + " - ";
if (window_name.substr(0, prefixed.length()) == prefixed)
output = window_name; // Already has "Viz - "
else if (window_name.substr(0, output.length()) == output)
output = prefixed + window_name; // Doesn't have prefix
else
output = (window_name == "" ? output : prefixed + window_name);
return output;
}
cv::viz::Viz3d cv::viz::getWindowByName(const String &window_name) { return Viz3d (window_name); }
void cv::viz::unregisterAllWindows() { VizStorage::unregisterAll(); }
cv::viz::Viz3d cv::viz::imshow(const String& window_name, InputArray image, const Size& window_size)
{
Viz3d viz = getWindowByName(window_name);
viz.showImage(image, window_size);
return viz;
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write clouds. Supported formats: ply, stl, xyz, obj
void cv::viz::writeCloud(const String& file, InputArray cloud, InputArray colors, InputArray normals, bool binary)
{
CV_Assert(file.size() > 4 && "Extension is required");
String extension = file.substr(file.size()-4);
vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
source->SetColorCloudNormals(cloud, colors, normals);
vtkSmartPointer<vtkWriter> writer;
if (extension == ".xyz")
{
writer = vtkSmartPointer<vtkXYZWriter>::New();
vtkXYZWriter::SafeDownCast(writer)->SetFileName(file.c_str());
}
else if (extension == ".ply")
{
writer = vtkSmartPointer<vtkPLYWriter>::New();
vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str());
vtkPLYWriter::SafeDownCast(writer)->SetFileType(binary ? VTK_BINARY : VTK_ASCII);
vtkPLYWriter::SafeDownCast(writer)->SetArrayName("Colors");
}
else if (extension == ".obj")
{
writer = vtkSmartPointer<vtkOBJWriter>::New();
vtkOBJWriter::SafeDownCast(writer)->SetFileName(file.c_str());
}
else
CV_Error(Error::StsError, "Unsupported format");
writer->SetInputConnection(source->GetOutputPort());
writer->Write();
}
cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray normals)
{
CV_Assert(file.size() > 4 && "Extension is required");
String extension = file.substr(file.size()-4);
vtkSmartPointer<vtkPolyDataAlgorithm> reader;
if (extension == ".xyz")
{
reader = vtkSmartPointer<vtkXYZReader>::New();
vtkXYZReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else if (extension == ".ply")
{
reader = vtkSmartPointer<vtkPLYReader>::New();
CV_Assert(vtkPLYReader::CanReadFile(file.c_str()));
vtkPLYReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else if (extension == ".obj")
{
reader = vtkSmartPointer<vtkOBJReader>::New();
vtkOBJReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else if (extension == ".stl")
{
reader = vtkSmartPointer<vtkSTLReader>::New();
vtkSTLReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else
CV_Error(Error::StsError, "Unsupported format");
cv::Mat cloud;
vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
sink->SetInputConnection(reader->GetOutputPort());
sink->SetOutput(cloud, colors, normals);
sink->Write();
return cloud;
}
cv::viz::Mesh cv::viz::readMesh(const String& file) { return Mesh::load(file); }
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write poses and trajectories
bool cv::viz::readPose(const String& file, Affine3d& pose, const String& tag)
{
FileStorage fs(file, FileStorage::READ);
if (!fs.isOpened())
return false;
Mat hdr(pose.matrix, false);
fs[tag] >> hdr;
if (hdr.empty() || hdr.cols != pose.matrix.cols || hdr.rows != pose.matrix.rows)
return false;
hdr.convertTo(pose.matrix, CV_64F);
return true;
}
void cv::viz::writePose(const String& file, const Affine3d& pose, const String& tag)
{
FileStorage fs(file, FileStorage::WRITE);
fs << tag << Mat(pose.matrix, false);
}
void cv::viz::readTrajectory(OutputArray _traj, const String& files_format, int start, int end, const String& tag)
{
CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
start = max(0, std::min(start, end));
end = std::max(start, end);
std::vector<Affine3d> traj;
for(int i = start; i < end; ++i)
{
Affine3d affine;
bool ok = readPose(cv::format(files_format.c_str(), i), affine, tag);
if (!ok)
break;
traj.push_back(affine);
}
Mat(traj).convertTo(_traj, _traj.depth());
}
void cv::viz::writeTrajectory(InputArray _traj, const String& files_format, int start, const String& tag)
{
if (_traj.kind() == _InputArray::STD_VECTOR_MAT)
{
#if CV_MAJOR_VERSION < 3
std::vector<Mat>& v = *(std::vector<Mat>*)_traj.obj;
#else
std::vector<Mat>& v = *(std::vector<Mat>*)_traj.getObj();
#endif
for(size_t i = 0, index = max(0, start); i < v.size(); ++i, ++index)
{
Affine3d affine;
Mat pose = v[i];
CV_Assert(pose.type() == CV_32FC(16) || pose.type() == CV_64FC(16));
pose.copyTo(affine.matrix);
writePose(cv::format(files_format.c_str(), index), affine, tag);
}
return;
}
if (_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT)
{
CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
Mat traj = _traj.getMat();
if (traj.depth() == CV_32F)
for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
writePose(cv::format(files_format.c_str(), index), traj.at<Affine3f>((int)i), tag);
if (traj.depth() == CV_64F)
for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
writePose(cv::format(files_format.c_str(), index), traj.at<Affine3d>((int)i), tag);
return;
}
CV_Error(Error::StsError, "Unsupported array kind");
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Computing normals for mesh
void cv::viz::computeNormals(const Mesh& mesh, OutputArray _normals)
{
vtkSmartPointer<vtkPolyData> polydata = getPolyData(WMesh(mesh));
vtkSmartPointer<vtkPolyData> with_normals = VtkUtils::ComputeNormals(polydata);
vtkSmartPointer<vtkDataArray> generic_normals = with_normals->GetPointData()->GetNormals();
if(generic_normals)
{
Mat normals(1, generic_normals->GetNumberOfTuples(), CV_64FC3);
Vec3d *optr = normals.ptr<Vec3d>();
for(int i = 0; i < generic_normals->GetNumberOfTuples(); ++i, ++optr)
generic_normals->GetTuple(i, optr->val);
normals.convertTo(_normals, mesh.cloud.type());
}
else
_normals.release();
}

622
modules/viz/src/vizimpl.cpp
Unescape View File

@ -1,622 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "precomp.hpp"
/////////////////////////////////////////////////////////////////////////////////////////////
cv::viz::Viz3d::VizImpl::VizImpl(const String &name) : spin_once_state_(false),
window_position_(Vec2i(std::numeric_limits<int>::min())), widget_actor_map_(new WidgetActorMap)
{
renderer_ = vtkSmartPointer<vtkRenderer>::New();
window_name_ = VizStorage::generateWindowName(name);
// Create render window
window_ = vtkSmartPointer<vtkRenderWindow>::New();
cv::Vec2i window_size = cv::Vec2i(window_->GetScreenSize()) / 2;
window_->SetSize(window_size.val);
window_->AddRenderer(renderer_);
// Create the interactor style
style_ = vtkSmartPointer<vtkVizInteractorStyle>::New();
style_->setWidgetActorMap(widget_actor_map_);
style_->UseTimersOn();
timer_callback_ = vtkSmartPointer<TimerCallback>::New();
exit_callback_ = vtkSmartPointer<ExitCallback>::New();
exit_callback_->viz = this;
offScreenMode_ = false;
setBackgroundMeshLab();
}
cv::viz::Viz3d::VizImpl::~VizImpl() { close(); }
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::TimerCallback::Execute(vtkObject* caller, unsigned long event_id, void* cookie)
{
if (event_id == vtkCommand::TimerEvent && timer_id == *reinterpret_cast<int*>(cookie))
{
vtkSmartPointer<vtkRenderWindowInteractor> interactor = vtkRenderWindowInteractor::SafeDownCast(caller);
interactor->TerminateApp();
}
}
void cv::viz::Viz3d::VizImpl::ExitCallback::Execute(vtkObject*, unsigned long event_id, void*)
{
if (event_id == vtkCommand::ExitEvent && viz->interactor_)
{
viz->interactor_->TerminateApp();
viz->interactor_ = 0;
}
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool cv::viz::Viz3d::VizImpl::wasStopped() const
{
bool stopped = spin_once_state_ ? interactor_ == 0 : false;
spin_once_state_ &= !stopped;
return stopped;
}
void cv::viz::Viz3d::VizImpl::close()
{
if (!interactor_)
return;
interactor_->GetRenderWindow()->Finalize();
interactor_->TerminateApp(); // This tends to close the window...
interactor_ = 0;
}
void cv::viz::Viz3d::VizImpl::recreateRenderWindow()
{
#if !defined _MSC_VER && !defined __APPLE__
//recreating is workaround for Ubuntu -- a crash in x-server
Vec2i window_size(window_->GetSize());
int fullscreen = window_->GetFullScreen();
window_->Finalize();
window_ = vtkSmartPointer<vtkRenderWindow>::New();
if (window_position_[0] != std::numeric_limits<int>::min()) //also workaround
window_->SetPosition(window_position_.val);
window_->SetSize(window_size.val);
window_->SetFullScreen(fullscreen);
window_->AddRenderer(renderer_);
#endif
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::spin()
{
recreateRenderWindow();
#if defined __APPLE__
interactor_ = vtkCocoaRenderWindowInteractorNew();
#else
interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New();
#endif
interactor_->SetRenderWindow(window_);
interactor_->SetInteractorStyle(style_);
window_->AlphaBitPlanesOff();
window_->PointSmoothingOff();
window_->LineSmoothingOff();
window_->PolygonSmoothingOff();
window_->SwapBuffersOn();
window_->SetStereoTypeToAnaglyph();
window_->Render();
window_->SetWindowName(window_name_.c_str());
interactor_->Start();
interactor_ = 0;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::spinOnce(int time, bool force_redraw)
{
if (interactor_ == 0)
{
spin_once_state_ = true;
recreateRenderWindow();
#if defined __APPLE__
interactor_ = vtkCocoaRenderWindowInteractorNew();
#else
interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New();
#endif
interactor_->SetRenderWindow(window_);
interactor_->SetInteractorStyle(style_);
interactor_->AddObserver(vtkCommand::TimerEvent, timer_callback_);
interactor_->AddObserver(vtkCommand::ExitEvent, exit_callback_);
window_->AlphaBitPlanesOff();
window_->PointSmoothingOff();
window_->LineSmoothingOff();
window_->PolygonSmoothingOff();
window_->SwapBuffersOn();
window_->SetStereoTypeToAnaglyph();
window_->Render();
window_->SetWindowName(window_name_.c_str());
}
vtkSmartPointer<vtkRenderWindowInteractor> local = interactor_;
if (force_redraw)
local->Render();
timer_callback_->timer_id = local->CreateRepeatingTimer(std::max(1, time));
local->Start();
local->DestroyTimer(timer_callback_->timer_id);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setOffScreenRendering()
{
window_->SetOffScreenRendering(1);
offScreenMode_ = true;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::removeAllLights()
{
renderer_->RemoveAllLights();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::addLight(Vec3d position, Vec3d focalPoint, const Color &color, const Color &diffuseColor,
const Color &ambientColor, const Color &specularColor)
{
Color color_ = vtkcolor(color);
Color diffuseColor_ = vtkcolor(diffuseColor);
Color ambientColor_ = vtkcolor(ambientColor);
Color specularColor_ = vtkcolor(specularColor);
vtkSmartPointer<vtkLight> light = vtkSmartPointer<vtkLight>::New();
light->SetPosition(position.val);
light->SetFocalPoint(focalPoint.val);
light->SetColor(color_.val);
light->SetDiffuseColor(diffuseColor_.val);
light->SetAmbientColor(ambientColor_.val);
light->SetSpecularColor(specularColor_.val);
renderer_->AddLight(light);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget, const Affine3d &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
if (exists)
{
// Remove it if it exists and add it again
removeActorFromRenderer(wam_itr->second);
}
// Get the actor and set the user matrix
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(widget));
if (actor)
{
// If the actor is 3D, apply pose
vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
actor->SetUserMatrix(matrix);
actor->Modified();
}
// If the actor is a vtkFollower, then it should always face the camera
vtkFollower *follower = vtkFollower::SafeDownCast(actor);
if (follower)
{
follower->SetCamera(renderer_->GetActiveCamera());
}
renderer_->AddActor(WidgetAccessor::getProp(widget));
(*widget_actor_map_)[id] = WidgetAccessor::getProp(widget);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::removeWidget(const String &id)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert("Widget does not exist." && exists);
CV_Assert("Widget could not be removed." && removeActorFromRenderer(wam_itr->second));
widget_actor_map_->erase(wam_itr);
}
/////////////////////////////////////////////////////////////////////////////////////////////
cv::viz::Widget cv::viz::Viz3d::VizImpl::getWidget(const String &id) const
{
WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert("Widget does not exist." && exists);
Widget widget;
WidgetAccessor::setProp(widget, wam_itr->second);
return widget;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3d &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert("Widget does not exist." && exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
actor->SetUserMatrix(matrix);
actor->Modified();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3d &pose)
{
WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert("Widget does not exist." && exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setWidgetPose(id, pose);
return ;
}
Affine3d updated_pose = pose * Affine3d(*matrix->Element);
matrix = vtkmatrix(updated_pose.matrix);
actor->SetUserMatrix(matrix);
actor->Modified();
}
/////////////////////////////////////////////////////////////////////////////////////////////
cv::Affine3d cv::viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
{
WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
bool exists = wam_itr != widget_actor_map_->end();
CV_Assert("Widget does not exist." && exists);
vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
CV_Assert("Widget is not 3D." && actor);
return Affine3d(*actor->GetUserMatrix()->Element);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::saveScreenshot(const String &file) { style_->saveScreenshot(file.c_str()); }
/////////////////////////////////////////////////////////////////////////////////////////////
cv::Mat cv::viz::Viz3d::VizImpl::getScreenshot() const
{
vtkSmartPointer<vtkWindowToImageFilter> windowToImageFilter =
vtkSmartPointer<vtkWindowToImageFilter>::New();
windowToImageFilter->SetInput(window_);
windowToImageFilter->ReadFrontBufferOff(); // read from the back buffer
windowToImageFilter->Update();
vtkImageData *resultImage = windowToImageFilter->GetOutput();
int * dim = resultImage->GetDimensions();
cv::Mat image(dim[1], dim[0], CV_8UC3);
Vec3b* dptr = reinterpret_cast<Vec3b*>(resultImage->GetScalarPointer());
size_t elem_step = resultImage->GetIncrements()[1]/sizeof(Vec3b);
for (int y = 0; y < image.rows; ++y)
{
const Vec3b* drow = dptr + elem_step * y;
unsigned char *srow = image.ptr<unsigned char>(image.rows - y - 1);
for (int x = 0; x < image.cols; ++x, srow += image.channels())
{
srow[0] = drow[x][2];
srow[1] = drow[x][1];
srow[2] = drow[x][0];
}
}
resultImage = 0;
return image;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::registerMouseCallback(MouseCallback callback, void* cookie)
{ style_->registerMouseCallback(callback, cookie); }
void cv::viz::Viz3d::VizImpl::registerKeyboardCallback(KeyboardCallback callback, void* cookie)
{ style_->registerKeyboardCallback(callback, cookie); }
//////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::removeAllWidgets()
{
widget_actor_map_->clear();
renderer_->RemoveAllViewProps();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::showImage(InputArray image, const Size& window_size)
{
removeAllWidgets();
if (window_size.width > 0 && window_size.height > 0)
setWindowSize(window_size);
showWidget("showImage", WImageOverlay(image, Rect(Point(0,0), getWindowSize())));
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool cv::viz::Viz3d::VizImpl::removeActorFromRenderer(vtkSmartPointer<vtkProp> actor)
{
vtkPropCollection* actors = renderer_->GetViewProps();
actors->InitTraversal();
vtkProp* current_actor = NULL;
while ((current_actor = actors->GetNextProp()) != NULL)
if (current_actor == actor)
{
renderer_->RemoveActor(actor);
return true;
}
return false;
}
//////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color, const Color& color2)
{
Color c = vtkcolor(color), c2 = vtkcolor(color2);
bool gradient = color2[0] >= 0 && color2[1] >= 0 && color2[2] >= 0;
if (gradient)
{
renderer_->SetBackground(c2.val);
renderer_->SetBackground2(c.val);
renderer_->GradientBackgroundOn();
}
else
{
renderer_->SetBackground(c.val);
renderer_->GradientBackgroundOff();
}
}
void cv::viz::Viz3d::VizImpl::setBackgroundMeshLab()
{ setBackgroundColor(Color(2, 1, 1), Color(240, 120, 120)); }
//////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setBackgroundTexture(InputArray image)
{
if (image.empty())
{
renderer_->SetBackgroundTexture(0);
renderer_->TexturedBackgroundOff();
return;
}
vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
source->SetImage(image);
vtkSmartPointer<vtkImageFlip> image_flip = vtkSmartPointer<vtkImageFlip>::New();
image_flip->SetFilteredAxis(1); // Vertical flip
image_flip->SetInputConnection(source->GetOutputPort());
vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
texture->SetInputConnection(image_flip->GetOutputPort());
//texture->Update();
renderer_->SetBackgroundTexture(texture);
renderer_->TexturedBackgroundOn();
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
{
vtkSmartPointer<vtkCamera> active_camera = renderer_->GetActiveCamera();
// Set the intrinsic parameters of the camera
window_->SetSize(camera.getWindowSize().width, camera.getWindowSize().height);
double aspect_ratio = static_cast<double>(camera.getWindowSize().width)/static_cast<double>(camera.getWindowSize().height);
Matx44d proj_mat;
camera.computeProjectionMatrix(proj_mat);
// Use the intrinsic parameters of the camera to simulate more realistically
vtkSmartPointer<vtkMatrix4x4> vtk_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0, 1.0);
Matx44d old_proj_mat(*vtk_matrix->Element);
// This is a hack around not being able to set Projection Matrix
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->SetMatrix(vtkmatrix(proj_mat * old_proj_mat.inv()));
active_camera->SetUserTransform(transform);
renderer_->ResetCameraClippingRange();
renderer_->Render();
}
/////////////////////////////////////////////////////////////////////////////////////////////
cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
{
vtkSmartPointer<vtkCamera> active_camera = renderer_->GetActiveCamera();
Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
renderer_->GetRenderWindow()->GetSize()[1]);
double aspect_ratio = window_size.width / (double)window_size.height;
vtkSmartPointer<vtkMatrix4x4> proj_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f);
return Camera(Matx44d(*proj_matrix->Element), window_size);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3d &pose)
{
vtkCamera& camera = *renderer_->GetActiveCamera();
// Position = extrinsic translation
cv::Vec3d pos_vec = pose.translation();
// Rotate the view vector
cv::Matx33d rotation = pose.rotation();
cv::Vec3d y_axis(0.0, -1.0, 0.0); // In Computer Vision Camera Y-axis is oriented down
cv::Vec3d up_vec(rotation * y_axis);
// Compute the new focal point
cv::Vec3d z_axis(0.0, 0.0, 1.0);
cv::Vec3d focal_vec = pose * z_axis;
camera.SetPosition(pos_vec.val);
camera.SetFocalPoint(focal_vec.val);
camera.SetViewUp(up_vec.val);
renderer_->ResetCameraClippingRange();
}
/////////////////////////////////////////////////////////////////////////////////////////////
cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose() const
{
vtkCamera& camera = *renderer_->GetActiveCamera();
Vec3d pos(camera.GetPosition());
Vec3d view_up(camera.GetViewUp());
Vec3d focal(camera.GetFocalPoint());
Vec3d y_axis = normalized(-view_up); // In Computer Vision Camera Y-axis is oriented down
Vec3d z_axis = normalized(focal - pos);
Vec3d x_axis = normalized(y_axis.cross(z_axis));
return makeTransformToGlobal(x_axis, y_axis, z_axis, pos);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
{
Vec3d window_pt;
vtkInteractorObserver::ComputeWorldToDisplay(renderer_, pt.x, pt.y, pt.z, window_pt.val);
window_coord = window_pt;
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
{
Vec4d world_pt;
vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val);
Vec3d cam_pos(renderer_->GetActiveCamera()->GetPosition());
origin = cam_pos;
direction = normalize(Vec3d(world_pt.val) - cam_pos);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::resetCameraViewpoint(const String &id)
{
vtkSmartPointer<vtkMatrix4x4> camera_pose;
static WidgetActorMap::iterator it = widget_actor_map_->find(id);
if (it != widget_actor_map_->end())
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(it->second);
CV_Assert("Widget is not 3D." && actor);
camera_pose = actor->GetUserMatrix();
}
else
return;
// Prevent a segfault
if (!camera_pose) return;
vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera();
cam->SetPosition(camera_pose->GetElement(0, 3),
camera_pose->GetElement(1, 3),
camera_pose->GetElement(2, 3));
cam->SetFocalPoint(camera_pose->GetElement(0, 3) - camera_pose->GetElement(0, 2),
camera_pose->GetElement(1, 3) - camera_pose->GetElement(1, 2),
camera_pose->GetElement(2, 3) - camera_pose->GetElement(2, 2));
cam->SetViewUp(camera_pose->GetElement(0, 1),
camera_pose->GetElement(1, 1),
camera_pose->GetElement(2, 1));
renderer_->SetActiveCamera(cam);
renderer_->ResetCameraClippingRange();
renderer_->ResetCamera();
renderer_->Render();
}
///////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::resetCamera()
{
renderer_->ResetCamera();
}
///////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setRepresentation(int representation)
{
vtkActorCollection * actors = renderer_->GetActors();
actors->InitTraversal();
vtkActor * actor;
switch (representation)
{
case REPRESENTATION_POINTS:
{
while ((actor = actors->GetNextActor()) != NULL)
actor->GetProperty()->SetRepresentationToPoints();
break;
}
case REPRESENTATION_SURFACE:
{
while ((actor = actors->GetNextActor()) != NULL)
actor->GetProperty()->SetRepresentationToSurface();
break;
}
case REPRESENTATION_WIREFRAME:
{
while ((actor = actors->GetNextActor()) != NULL)
actor->GetProperty()->SetRepresentationToWireframe();
break;
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
cv::String cv::viz::Viz3d::VizImpl::getWindowName() const { return window_name_; }
void cv::viz::Viz3d::VizImpl::setFullScreen(bool mode) { window_->SetFullScreen(mode); }
void cv::viz::Viz3d::VizImpl::setWindowPosition(const Point& position) { window_position_ = position; window_->SetPosition(position.x, position.y); }
void cv::viz::Viz3d::VizImpl::setWindowSize(const Size& window_size) { window_->SetSize(window_size.width, window_size.height); }
cv::Size cv::viz::Viz3d::VizImpl::getWindowSize() const { return Size(Point(Vec2i(window_->GetSize()))); }

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __OPENCV_VIZ_VIZ3D_IMPL_HPP__
#define __OPENCV_VIZ_VIZ3D_IMPL_HPP__
struct cv::viz::Viz3d::VizImpl
{
public:
typedef Viz3d::KeyboardCallback KeyboardCallback;
typedef Viz3d::MouseCallback MouseCallback;
int ref_counter;
VizImpl(const String &name);
virtual ~VizImpl();
bool wasStopped() const;
void close();
void spin();
void spinOnce(int time = 1, bool force_redraw = false);
void setOffScreenRendering();
void removeAllLights();
void addLight(Vec3d position, Vec3d focalPoint, const Color &color, const Color &diffuseColor,
const Color &ambientColor, const Color &specularColor);
void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity());
void removeWidget(const String &id);
Widget getWidget(const String &id) const;
void removeAllWidgets();
void showImage(InputArray image, const Size& window_size);
void setWidgetPose(const String &id, const Affine3d &pose);
void updateWidgetPose(const String &id, const Affine3d &pose);
Affine3d getWidgetPose(const String &id) const;
void setRepresentation(int representation);
void setCamera(const Camera &camera);
Camera getCamera() const;
/** \brief Reset the camera to a given widget */
void resetCameraViewpoint(const String& id);
void resetCamera();
void setViewerPose(const Affine3d &pose);
Affine3d getViewerPose() const;
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
Mat getScreenshot() const;
void saveScreenshot(const String &file);
void setWindowPosition(const Point& position);
Size getWindowSize() const;
void setWindowSize(const Size& window_size);
void setFullScreen(bool mode);
String getWindowName() const;
void setBackgroundColor(const Color& color, const Color& color2);
void setBackgroundTexture(InputArray image);
void setBackgroundMeshLab();
void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
void registerMouseCallback(MouseCallback callback, void* cookie = 0);
private:
struct TimerCallback : public vtkCommand
{
static TimerCallback* New() { return new TimerCallback; }
virtual void Execute(vtkObject* caller, unsigned long event_id, void* cookie);
int timer_id;
};
struct ExitCallback : public vtkCommand
{
static ExitCallback* New() { return new ExitCallback; }
virtual void Execute(vtkObject*, unsigned long event_id, void*);
VizImpl* viz;
};
mutable bool spin_once_state_;
vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
vtkSmartPointer<vtkRenderWindow> window_;
String window_name_;
Vec2i window_position_;
vtkSmartPointer<TimerCallback> timer_callback_;
vtkSmartPointer<ExitCallback> exit_callback_;
vtkSmartPointer<vtkRenderer> renderer_;
vtkSmartPointer<vtkVizInteractorStyle> style_;
Ptr<WidgetActorMap> widget_actor_map_;
bool offScreenMode_;
bool removeActorFromRenderer(vtkSmartPointer<vtkProp> actor);
void recreateRenderWindow();
};
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkCloudMatSink);
}}
cv::viz::vtkCloudMatSink::vtkCloudMatSink() {}
cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {}
void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals, OutputArray _tcoords)
{
cloud = _cloud;
colors = _colors;
normals = _normals;
tcoords = _tcoords;
}
void cv::viz::vtkCloudMatSink::WriteData()
{
vtkPolyData *input = this->GetInput();
if (!input)
return;
vtkSmartPointer<vtkPoints> points_Data = input->GetPoints();
if (cloud.needed() && points_Data)
{
int vtktype = points_Data->GetDataType();
CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE);
cloud.create(1, points_Data->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3);
Vec3d *ddata = cloud.getMat().ptr<Vec3d>();
Vec3f *fdata = cloud.getMat().ptr<Vec3f>();
if (cloud.depth() == CV_32F)
for(size_t i = 0; i < cloud.total(); ++i)
*fdata++ = Vec3d(points_Data->GetPoint((vtkIdType)i));
if (cloud.depth() == CV_64F)
for(size_t i = 0; i < cloud.total(); ++i)
*ddata++ = Vec3d(points_Data->GetPoint((vtkIdType)i));
}
else
cloud.release();
vtkSmartPointer<vtkDataArray> scalars_data = input->GetPointData() ? input->GetPointData()->GetScalars() : 0;
if (colors.needed() && scalars_data)
{
int channels = scalars_data->GetNumberOfComponents();
int vtktype = scalars_data->GetDataType();
CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented");
CV_Assert(cloud.total() == (size_t)scalars_data->GetNumberOfTuples());
Mat buffer(cloud.size(), CV_64FC(channels));
Vec3d *cptr = buffer.ptr<Vec3d>();
for(size_t i = 0; i < buffer.total(); ++i)
*cptr++ = Vec3d(scalars_data->GetTuple((vtkIdType)i));
buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ? 255.0 : 1.0);
}
else
colors.release();
vtkSmartPointer<vtkDataArray> normals_data = input->GetPointData() ? input->GetPointData()->GetNormals() : 0;
if (normals.needed() && normals_data)
{
int channels = normals_data->GetNumberOfComponents();
int vtktype = normals_data->GetDataType();
CV_Assert((vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE) && (channels == 3 || channels == 4));
CV_Assert(cloud.total() == (size_t)normals_data->GetNumberOfTuples());
Mat buffer(cloud.size(), CV_64FC(channels));
Vec3d *cptr = buffer.ptr<Vec3d>();
for(size_t i = 0; i < buffer.total(); ++i)
*cptr++ = Vec3d(normals_data->GetTuple((vtkIdType)i));
buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
}
else
normals.release();
vtkSmartPointer<vtkDataArray> coords_data = input->GetPointData() ? input->GetPointData()->GetTCoords() : 0;
if (tcoords.needed() && coords_data)
{
int vtktype = coords_data->GetDataType();
CV_Assert(vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE);
CV_Assert(cloud.total() == (size_t)coords_data->GetNumberOfTuples());
Mat buffer(cloud.size(), CV_64FC2);
Vec2d *cptr = buffer.ptr<Vec2d>();
for(size_t i = 0; i < buffer.total(); ++i)
*cptr++ = Vec2d(coords_data->GetTuple((vtkIdType)i));
buffer.convertTo(tcoords, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
}
else
tcoords.release();
}
void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
{
Superclass::PrintSelf(os, indent);
os << indent << "Cloud: " << cloud.needed() << "\n";
os << indent << "Colors: " << colors.needed() << "\n";
os << indent << "Normals: " << normals.needed() << "\n";
}
int cv::viz::vtkCloudMatSink::FillInputPortInformation(int, vtkInformation *info)
{
info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
return 1;
}
vtkPolyData* cv::viz::vtkCloudMatSink::GetInput()
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
}
vtkPolyData* cv::viz::vtkCloudMatSink::GetInput(int port)
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __vtkCloudMatSink_h
#define __vtkCloudMatSink_h
#include <opencv2/core.hpp>
#include <vtkWriter.h>
namespace cv
{
namespace viz
{
class vtkCloudMatSink : public vtkWriter
{
public:
static vtkCloudMatSink *New();
vtkTypeMacro(vtkCloudMatSink,vtkWriter)
void PrintSelf(ostream& os, vtkIndent indent);
void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray(), OutputArray tcoords = noArray());
// Description:
// Get the input to this writer.
vtkPolyData* GetInput();
vtkPolyData* GetInput(int port);
protected:
vtkCloudMatSink();
~vtkCloudMatSink();
void WriteData();
int FillInputPortInformation(int port, vtkInformation *info);
_OutputArray cloud; //!< point coordinates of type CV_32FC3 or CV_64FC3 with only 1 row
_OutputArray colors; //!< point color of type CV_8UC3 or CV_8UC4 with only 1 row
_OutputArray normals; //!< point normal of type CV_32FC3, CV_32FC4, CV_64FC3 or CV_64FC4 with only 1 row
_OutputArray tcoords; //!< texture coordinates of type CV_32FC2 or CV_64FC2 with only 1 row
private:
vtkCloudMatSink(const vtkCloudMatSink&); // Not implemented.
void operator=(const vtkCloudMatSink&); // Not implemented.
};
} // end namespace viz
} // end namespace cv
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkCloudMatSource);
template<typename _Tp> struct VtkDepthTraits;
template<> struct VtkDepthTraits<float>
{
const static int data_type = VTK_FLOAT;
typedef vtkFloatArray array_type;
};
template<> struct VtkDepthTraits<double>
{
const static int data_type = VTK_DOUBLE;
typedef vtkDoubleArray array_type;
};
}}
cv::viz::vtkCloudMatSource::vtkCloudMatSource() { SetNumberOfInputPorts(0); }
cv::viz::vtkCloudMatSource::~vtkCloudMatSource() {}
int cv::viz::vtkCloudMatSource::SetCloud(InputArray _cloud)
{
CV_Assert(_cloud.depth() == CV_32F || _cloud.depth() == CV_64F);
CV_Assert(_cloud.channels() == 3 || _cloud.channels() == 4);
Mat cloud = _cloud.getMat();
int total = _cloud.depth() == CV_32F ? filterNanCopy<float>(cloud) : filterNanCopy<double>(cloud);
vertices = vtkSmartPointer<vtkCellArray>::New();
vertices->Allocate(vertices->EstimateSize(1, total));
vertices->InsertNextCell(total);
for(int i = 0; i < total; ++i)
vertices->InsertCellPoint(i);
return total;
}
int cv::viz::vtkCloudMatSource::SetColorCloud(InputArray _cloud, InputArray _colors)
{
int total = SetCloud(_cloud);
if (_colors.empty())
return total;
CV_Assert(_colors.depth() == CV_8U && _colors.channels() <= 4 && _colors.channels() != 2);
CV_Assert(_colors.size() == _cloud.size());
Mat cloud = _cloud.getMat();
Mat colors = _colors.getMat();
if (cloud.depth() == CV_32F)
filterNanColorsCopy<float>(colors, cloud, total);
else if (cloud.depth() == CV_64F)
filterNanColorsCopy<double>(colors, cloud, total);
return total;
}
int cv::viz::vtkCloudMatSource::SetColorCloudNormals(InputArray _cloud, InputArray _colors, InputArray _normals)
{
int total = SetColorCloud(_cloud, _colors);
if (_normals.empty())
return total;
CV_Assert(_normals.depth() == CV_32F || _normals.depth() == CV_64F);
CV_Assert(_normals.channels() == 3 || _normals.channels() == 4);
CV_Assert(_normals.size() == _cloud.size());
Mat c = _cloud.getMat();
Mat n = _normals.getMat();
if (n.depth() == CV_32F && c.depth() == CV_32F)
filterNanNormalsCopy<float, float>(n, c, total);
else if (n.depth() == CV_32F && c.depth() == CV_64F)
filterNanNormalsCopy<float, double>(n, c, total);
else if (n.depth() == CV_64F && c.depth() == CV_32F)
filterNanNormalsCopy<double, float>(n, c, total);
else if (n.depth() == CV_64F && c.depth() == CV_64F)
filterNanNormalsCopy<double, double>(n, c, total);
else
CV_Error(Error::StsError, "Unsupported normals/cloud type");
return total;
}
int cv::viz::vtkCloudMatSource::SetColorCloudNormalsTCoords(InputArray _cloud, InputArray _colors, InputArray _normals, InputArray _tcoords)
{
int total = SetColorCloudNormals(_cloud, _colors, _normals);
if (_tcoords.empty())
return total;
CV_Assert(_tcoords.depth() == CV_32F || _tcoords.depth() == CV_64F);
CV_Assert(_tcoords.channels() == 2 && _tcoords.size() == _cloud.size());
Mat cl = _cloud.getMat();
Mat tc = _tcoords.getMat();
if (tc.depth() == CV_32F && cl.depth() == CV_32F)
filterNanTCoordsCopy<float, float>(tc, cl, total);
else if (tc.depth() == CV_32F && cl.depth() == CV_64F)
filterNanTCoordsCopy<float, double>(tc, cl, total);
else if (tc.depth() == CV_64F && cl.depth() == CV_32F)
filterNanTCoordsCopy<double, float>(tc, cl, total);
else if (tc.depth() == CV_64F && cl.depth() == CV_64F)
filterNanTCoordsCopy<double, double>(tc, cl, total);
else
CV_Error(Error::StsError, "Unsupported tcoords/cloud type");
return total;
}
int cv::viz::vtkCloudMatSource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
{
vtkInformation *outInfo = outputVector->GetInformationObject(0);
vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));
output->SetPoints(points);
output->SetVerts(vertices);
if (scalars)
output->GetPointData()->SetScalars(scalars);
if (normals)
output->GetPointData()->SetNormals(normals);
if (tcoords)
output->GetPointData()->SetTCoords(tcoords);
return 1;
}
template<typename _Tp>
int cv::viz::vtkCloudMatSource::filterNanCopy(const Mat& cloud)
{
CV_DbgAssert(DataType<_Tp>::depth == cloud.depth());
points = vtkSmartPointer<vtkPoints>::New();
points->SetDataType(VtkDepthTraits<_Tp>::data_type);
points->Allocate((vtkIdType)cloud.total());
points->SetNumberOfPoints((vtkIdType)cloud.total());
int s_chs = cloud.channels();
int total = 0;
for (int y = 0; y < cloud.rows; ++y)
{
const _Tp* srow = cloud.ptr<_Tp>(y);
const _Tp* send = srow + cloud.cols * s_chs;
for (; srow != send; srow += s_chs)
if (!isNan(srow))
points->SetPoint(total++, srow);
}
points->SetNumberOfPoints(total);
points->Squeeze();
return total;
}
template<typename _Msk>
void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total)
{
Vec3b* array = new Vec3b[total];
Vec3b* pos = array;
int s_chs = cloud_colors.channels();
int m_chs = mask.channels();
for (int y = 0; y < cloud_colors.rows; ++y)
{
const unsigned char* srow = cloud_colors.ptr<unsigned char>(y);
const unsigned char* send = srow + cloud_colors.cols * s_chs;
const _Msk* mrow = mask.ptr<_Msk>(y);
if (cloud_colors.channels() == 1)
{
for (; srow != send; srow += s_chs, mrow += m_chs)
if (!isNan(mrow))
*pos++ = Vec3b(srow[0], srow[0], srow[0]);
}
else
for (; srow != send; srow += s_chs, mrow += m_chs)
if (!isNan(mrow))
*pos++ = Vec3b(srow[2], srow[1], srow[0]);
}
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
scalars->SetName("Colors");
scalars->SetNumberOfComponents(3);
scalars->SetNumberOfTuples(total);
scalars->SetArray(array->val, total * 3, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
}
template<typename _Tn, typename _Msk>
void cv::viz::vtkCloudMatSource::filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total)
{
normals = vtkSmartPointer< typename VtkDepthTraits<_Tn>::array_type >::New();
normals->SetName("Normals");
normals->SetNumberOfComponents(3);
normals->SetNumberOfTuples(total);
int s_chs = cloud_normals.channels();
int m_chs = mask.channels();
int pos = 0;
for (int y = 0; y < cloud_normals.rows; ++y)
{
const _Tn* srow = cloud_normals.ptr<_Tn>(y);
const _Tn* send = srow + cloud_normals.cols * s_chs;
const _Msk* mrow = mask.ptr<_Msk>(y);
for (; srow != send; srow += s_chs, mrow += m_chs)
if (!isNan(mrow))
normals->SetTuple(pos++, srow);
}
}
template<typename _Tn, typename _Msk>
void cv::viz::vtkCloudMatSource::filterNanTCoordsCopy(const Mat& _tcoords, const Mat& mask, int total)
{
typedef Vec<_Tn, 2> Vec2;
tcoords = vtkSmartPointer< typename VtkDepthTraits<_Tn>::array_type >::New();
tcoords->SetName("TextureCoordinates");
tcoords->SetNumberOfComponents(2);
tcoords->SetNumberOfTuples(total);
int pos = 0;
for (int y = 0; y < mask.rows; ++y)
{
const Vec2* srow = _tcoords.ptr<Vec2>(y);
const Vec2* send = srow + _tcoords.cols;
const _Msk* mrow = mask.ptr<_Msk>(y);
for (; srow != send; ++srow, mrow += mask.channels())
if (!isNan(mrow))
tcoords->SetTuple(pos++, srow->val);
}
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __vtkCloudMatSource_h
#define __vtkCloudMatSource_h
#include <opencv2/core.hpp>
#include <vtkPolyDataAlgorithm.h>
#include <vtkSmartPointer.h>
#include <vtkPoints.h>
#include <vtkCellArray.h>
namespace cv
{
namespace viz
{
class vtkCloudMatSource : public vtkPolyDataAlgorithm
{
public:
static vtkCloudMatSource *New();
vtkTypeMacro(vtkCloudMatSource,vtkPolyDataAlgorithm)
virtual int SetCloud(InputArray cloud);
virtual int SetColorCloud(InputArray cloud, InputArray colors);
virtual int SetColorCloudNormals(InputArray cloud, InputArray colors, InputArray normals);
virtual int SetColorCloudNormalsTCoords(InputArray cloud, InputArray colors, InputArray normals, InputArray tcoords);
protected:
vtkCloudMatSource();
~vtkCloudMatSource();
int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *);
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkCellArray> vertices;
vtkSmartPointer<vtkUnsignedCharArray> scalars;
vtkSmartPointer<vtkDataArray> normals;
vtkSmartPointer<vtkDataArray> tcoords;
private:
vtkCloudMatSource(const vtkCloudMatSource&); // Not implemented.
void operator=(const vtkCloudMatSource&); // Not implemented.
template<typename _Tp> int filterNanCopy(const Mat& cloud);
template<typename _Msk> void filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total);
template<typename _Tn, typename _Msk>
void filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total);
template<typename _Tn, typename _Msk>
void filterNanTCoordsCopy(const Mat& tcoords, const Mat& mask, int total);
};
}
}
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// This workaround code was taken from PCL library(www.pointclouds.org)
//
//M*/
#import <Cocoa/Cocoa.h>
#include <vtkCocoaRenderWindow.h>
#include <vtkCocoaRenderWindowInteractor.h>
#include <vtkObjectFactory.h>
#include <vtkSmartPointer.h>
namespace cv { namespace viz {
vtkSmartPointer<vtkRenderWindowInteractor> vtkCocoaRenderWindowInteractorNew();
}} // namespace
#if ((VTK_MAJOR_VERSION < 6) || ((VTK_MAJOR_VERSION == 6) && (VTK_MINOR_VERSION < 2)))
//----------------------------------------------------------------------------
@interface vtkCocoaServerFix : NSObject
{
vtkCocoaRenderWindow* renWin;
}
+ (id)cocoaServerWithRenderWindow:(vtkCocoaRenderWindow*)inRenderWindow;
- (void)start;
- (void)stop;
- (void)breakEventLoop;
@end
//----------------------------------------------------------------------------
@implementation vtkCocoaServerFix
//----------------------------------------------------------------------------
- (id)initWithRenderWindow:(vtkCocoaRenderWindow *)inRenderWindow
{
self = [super init];
if (self)
renWin = inRenderWindow;
return self;
}
//----------------------------------------------------------------------------
+ (id)cocoaServerWithRenderWindow:(vtkCocoaRenderWindow *)inRenderWindow
{
vtkCocoaServerFix *server = [[[vtkCocoaServerFix alloc] initWithRenderWindow:inRenderWindow] autorelease];
return server;
}
//----------------------------------------------------------------------------
- (void)start
{
// Retrieve the NSWindow.
NSWindow *win = nil;
if (renWin)
{
win = reinterpret_cast<NSWindow*> (renWin->GetRootWindow ());
// We don't want to be informed of every window closing, so check for nil.
if (win != nil)
{
// Register for the windowWillClose notification in order to stop the run loop if the window closes.
NSNotificationCenter *nc = [NSNotificationCenter defaultCenter];
[nc addObserver:self selector:@selector(windowWillClose:) name:NSWindowWillCloseNotification object:win];
}
}
// Start the NSApplication's run loop
NSApplication* application = [NSApplication sharedApplication];
[application run];
}
//----------------------------------------------------------------------------
- (void)stop
{
[self breakEventLoop];
}
//----------------------------------------------------------------------------
- (void)breakEventLoop
{
NSApplication* application = [NSApplication sharedApplication];
[application stop:application];
NSEvent *event = [NSEvent otherEventWithType:NSApplicationDefined
location:NSMakePoint(0.0,0.0)
modifierFlags:0
timestamp:0
windowNumber:-1
context:nil
subtype:0
data1:0
data2:0];
[application postEvent:event atStart:YES];
}
//----------------------------------------------------------------------------
- (void)windowWillClose:(NSNotification*)aNotification
{
(void)aNotification;
NSNotificationCenter *nc = [NSNotificationCenter defaultCenter];
[nc removeObserver:self name:NSWindowWillCloseNotification object:nil];
if (renWin)
{
int windowCreated = renWin->GetWindowCreated ();
if (windowCreated)
{
[self breakEventLoop];
// The NSWindow is closing, so prevent anyone from accidentally using it
renWin->SetRootWindow(NULL);
}
}
}
@end
//----------------------------------------------------------------------------
namespace cv { namespace viz
{
class vtkCocoaRenderWindowInteractorFix : public vtkCocoaRenderWindowInteractor
{
public:
static vtkCocoaRenderWindowInteractorFix *New ();
vtkTypeMacro (vtkCocoaRenderWindowInteractorFix, vtkCocoaRenderWindowInteractor)
virtual void Start ();
virtual void TerminateApp ();
protected:
vtkCocoaRenderWindowInteractorFix () {}
~vtkCocoaRenderWindowInteractorFix () {}
private:
vtkCocoaRenderWindowInteractorFix (const vtkCocoaRenderWindowInteractorFix&); // Not implemented.
void operator = (const vtkCocoaRenderWindowInteractorFix&); // Not implemented.
};
vtkStandardNewMacro (vtkCocoaRenderWindowInteractorFix)
}}
void cv::viz::vtkCocoaRenderWindowInteractorFix::Start ()
{
vtkCocoaRenderWindow* renWin = vtkCocoaRenderWindow::SafeDownCast(this->GetRenderWindow ());
if (renWin != NULL)
{
vtkCocoaServerFix *server = reinterpret_cast<vtkCocoaServerFix*> (this->GetCocoaServer ());
if (!this->GetCocoaServer ())
{
server = [vtkCocoaServerFix cocoaServerWithRenderWindow:renWin];
this->SetCocoaServer (reinterpret_cast<void*> (server));
}
[server start];
}
}
void cv::viz::vtkCocoaRenderWindowInteractorFix::TerminateApp ()
{
vtkCocoaRenderWindow *renWin = vtkCocoaRenderWindow::SafeDownCast (this->RenderWindow);
if (renWin)
{
vtkCocoaServerFix *server = reinterpret_cast<vtkCocoaServerFix*> (this->GetCocoaServer ());
[server stop];
}
}
vtkSmartPointer<vtkRenderWindowInteractor> cv::viz::vtkCocoaRenderWindowInteractorNew()
{
return vtkSmartPointer<vtkCocoaRenderWindowInteractorFix>::New();
}
#else
vtkSmartPointer<vtkRenderWindowInteractor> cv::viz::vtkCocoaRenderWindowInteractorNew()
{
return vtkSmartPointer<vtkCocoaRenderWindowInteractor>::New();
}
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkImageMatSource);
}}
cv::viz::vtkImageMatSource::vtkImageMatSource()
{
this->SetNumberOfInputPorts(0);
this->ImageData = vtkSmartPointer<vtkImageData>::New();
}
int cv::viz::vtkImageMatSource::RequestInformation(vtkInformation *, vtkInformationVector**, vtkInformationVector *outputVector)
{
vtkInformation* outInfo = outputVector->GetInformationObject(0);
outInfo->Set(vtkStreamingDemandDrivenPipeline::WHOLE_EXTENT(), this->ImageData->GetExtent(), 6);
outInfo->Set(vtkDataObject::SPACING(), 1.0, 1.0, 1.0);
outInfo->Set(vtkDataObject::ORIGIN(), 0.0, 0.0, 0.0);
vtkDataObject::SetPointDataActiveScalarInfo(outInfo, this->ImageData->GetScalarType(), this->ImageData->GetNumberOfScalarComponents());
return 1;
}
int cv::viz::vtkImageMatSource::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector *outputVector)
{
vtkInformation *outInfo = outputVector->GetInformationObject(0);
vtkImageData *output = vtkImageData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()) );
output->ShallowCopy(this->ImageData);
return 1;
}
void cv::viz::vtkImageMatSource::SetImage(InputArray _image)
{
CV_Assert(_image.depth() == CV_8U && (_image.channels() == 1 || _image.channels() == 3 || _image.channels() == 4));
Mat image = _image.getMat();
this->ImageData->SetDimensions(image.cols, image.rows, 1);
#if VTK_MAJOR_VERSION <= 5
this->ImageData->SetNumberOfScalarComponents(image.channels());
this->ImageData->SetScalarTypeToUnsignedChar();
this->ImageData->AllocateScalars();
#else
this->ImageData->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
#endif
switch(image.channels())
{
case 1: copyGrayImage(image, this->ImageData); break;
case 3: copyRGBImage (image, this->ImageData); break;
case 4: copyRGBAImage(image, this->ImageData); break;
}
this->ImageData->Modified();
}
void cv::viz::vtkImageMatSource::copyGrayImage(const Mat &source, vtkSmartPointer<vtkImageData> output)
{
unsigned char* dptr = reinterpret_cast<unsigned char*>(output->GetScalarPointer());
size_t elem_step = output->GetIncrements()[1]/sizeof(unsigned char);
for (int y = 0; y < source.rows; ++y)
{
unsigned char* drow = dptr + elem_step * y;
const unsigned char *srow = source.ptr<unsigned char>(y);
for (int x = 0; x < source.cols; ++x)
drow[x] = *srow++;
}
}
void cv::viz::vtkImageMatSource::copyRGBImage(const Mat &source, vtkSmartPointer<vtkImageData> output)
{
Vec3b* dptr = reinterpret_cast<Vec3b*>(output->GetScalarPointer());
size_t elem_step = output->GetIncrements()[1]/sizeof(Vec3b);
for (int y = 0; y < source.rows; ++y)
{
Vec3b* drow = dptr + elem_step * y;
const unsigned char *srow = source.ptr<unsigned char>(y);
for (int x = 0; x < source.cols; ++x, srow += source.channels())
drow[x] = Vec3b(srow[2], srow[1], srow[0]);
}
}
void cv::viz::vtkImageMatSource::copyRGBAImage(const Mat &source, vtkSmartPointer<vtkImageData> output)
{
Vec4b* dptr = reinterpret_cast<Vec4b*>(output->GetScalarPointer());
size_t elem_step = output->GetIncrements()[1]/sizeof(Vec4b);
for (int y = 0; y < source.rows; ++y)
{
Vec4b* drow = dptr + elem_step * y;
const unsigned char *srow = source.ptr<unsigned char>(y);
for (int x = 0; x < source.cols; ++x, srow += source.channels())
drow[x] = Vec4b(srow[2], srow[1], srow[0], srow[3]);
}
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
#ifndef __vtkImageMatSource_h
#define __vtkImageMatSource_h
namespace cv
{
namespace viz
{
class vtkImageMatSource : public vtkImageAlgorithm
{
public:
static vtkImageMatSource *New();
vtkTypeMacro(vtkImageMatSource,vtkImageAlgorithm);
void SetImage(InputArray image);
protected:
vtkImageMatSource();
~vtkImageMatSource() {}
vtkSmartPointer<vtkImageData> ImageData;
int RequestInformation(vtkInformation*, vtkInformationVector**, vtkInformationVector*);
int RequestData (vtkInformation*, vtkInformationVector**, vtkInformationVector*);
private:
vtkImageMatSource(const vtkImageMatSource&); // Not implemented.
void operator=(const vtkImageMatSource&); // Not implemented.
static void copyGrayImage(const Mat &source, vtkSmartPointer<vtkImageData> output);
static void copyRGBImage (const Mat &source, vtkSmartPointer<vtkImageData> output);
static void copyRGBAImage(const Mat &source, vtkSmartPointer<vtkImageData> output);
};
}
}
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkOBJWriter);
}}
cv::viz::vtkOBJWriter::vtkOBJWriter()
{
std::ofstream fout; // only used to extract the default precision
this->DecimalPrecision = fout.precision();
this->FileName = NULL;
}
cv::viz::vtkOBJWriter::~vtkOBJWriter(){}
void cv::viz::vtkOBJWriter::WriteData()
{
vtkPolyData *input = this->GetInput();
if (!input)
return;
if (!this->FileName )
{
vtkErrorMacro(<< "No FileName specified! Can't write!");
this->SetErrorCode(vtkErrorCode::NoFileNameError);
return;
}
vtkDebugMacro(<<"Opening vtk file for writing...");
ostream *outfilep = new ofstream(this->FileName, ios::out);
if (outfilep->fail())
{
vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
this->SetErrorCode(vtkErrorCode::CannotOpenFileError);
delete outfilep;
return;
}
std::ostream& outfile = *outfilep;
//write header
outfile << "# wavefront obj file written by opencv viz module" << std::endl << std::endl;
outfile << "mtllib NONE" << std::endl << std::endl;
// write out the points
for (int i = 0; i < input->GetNumberOfPoints(); i++)
{
Vec3d p;
input->GetPoint(i, p.val);
outfile << std::setprecision(this->DecimalPrecision) << "v " << p[0] << " " << p[1] << " " << p[2] << std::endl;
}
const int idStart = 1;
// write out the point data
vtkSmartPointer<vtkDataArray> normals = input->GetPointData()->GetNormals();
if(normals)
{
for (int i = 0; i < normals->GetNumberOfTuples(); i++)
{
Vec3d p;
normals->GetTuple(i, p.val);
outfile << std::setprecision(this->DecimalPrecision) << "vn " << p[0] << " " << p[1] << " " << p[2] << std::endl;
}
}
vtkSmartPointer<vtkDataArray> tcoords = input->GetPointData()->GetTCoords();
if (tcoords)
{
for (int i = 0; i < tcoords->GetNumberOfTuples(); i++)
{
Vec2d p;
tcoords->GetTuple(i, p.val);
outfile << std::setprecision(this->DecimalPrecision) << "vt " << p[0] << " " << p[1] << std::endl;
}
}
// write out a group name and material
outfile << std::endl << "g grp" << idStart << std::endl;
outfile << "usemtl mtlNONE" << std::endl;
// write out verts if any
if (input->GetNumberOfVerts() > 0)
{
vtkIdType npts = 0, *index = 0;
vtkCellArray *cells = input->GetVerts();
for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
{
outfile << "p ";
for (int i = 0; i < npts; i++)
outfile << index[i] + idStart << " ";
outfile << std::endl;
}
}
// write out lines if any
if (input->GetNumberOfLines() > 0)
{
vtkIdType npts = 0, *index = 0;
vtkCellArray *cells = input->GetLines();
for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
{
outfile << "l ";
if (tcoords)
{
for (int i = 0; i < npts; i++)
outfile << index[i] + idStart << "/" << index[i] + idStart << " ";
}
else
for (int i = 0; i < npts; i++)
outfile << index[i] + idStart << " ";
outfile << std::endl;
}
}
// write out polys if any
if (input->GetNumberOfPolys() > 0)
{
vtkIdType npts = 0, *index = 0;
vtkCellArray *cells = input->GetPolys();
for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
{
outfile << "f ";
for (int i = 0; i < npts; i++)
{
if (normals)
{
if (tcoords)
outfile << index[i] + idStart << "/" << index[i] + idStart << "/" << index[i] + idStart << " ";
else
outfile << index[i] + idStart << "//" << index[i] + idStart << " ";
}
else
{
if (tcoords)
outfile << index[i] + idStart << " " << index[i] + idStart << " ";
else
outfile << index[i] + idStart << " ";
}
}
outfile << std::endl;
}
}
// write out tstrips if any
if (input->GetNumberOfStrips() > 0)
{
vtkIdType npts = 0, *index = 0;
vtkCellArray *cells = input->GetStrips();
for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
{
for (int i = 2, i1, i2; i < npts; ++i)
{
if (i % 2)
{
i1 = i - 1;
i2 = i - 2;
}
else
{
i1 = i - 1;
i2 = i - 2;
}
if(normals)
{
if (tcoords)
{
outfile << "f " << index[i1] + idStart << "/" << index[i1] + idStart << "/" << index[i1] + idStart << " "
<< index[i2]+ idStart << "/" << index[i2] + idStart << "/" << index[i2] + idStart << " "
<< index[i] + idStart << "/" << index[i] + idStart << "/" << index[i] + idStart << std::endl;
}
else
{
outfile << "f " << index[i1] + idStart << "//" << index[i1] + idStart << " " << index[i2] + idStart
<< "//" << index[i2] + idStart << " " << index[i] + idStart << "//" << index[i] + idStart << std::endl;
}
}
else
{
if (tcoords)
{
outfile << "f " << index[i1] + idStart << "/" << index[i1] + idStart << " " << index[i2] + idStart
<< "/" << index[i2] + idStart << " " << index[i] + idStart << "/" << index[i] + idStart << std::endl;
}
else
outfile << "f " << index[i1] + idStart << " " << index[i2] + idStart << " " << index[i] + idStart << std::endl;
}
} /* for (int i = 2; i < npts; ++i) */
}
} /* if (input->GetNumberOfStrips() > 0) */
vtkDebugMacro(<<"Closing vtk file\n");
delete outfilep;
// Delete the file if an error occurred
if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
{
vtkErrorMacro("Ran out of disk space; deleting file: " << this->FileName);
unlink(this->FileName);
}
}
void cv::viz::vtkOBJWriter::PrintSelf(ostream& os, vtkIndent indent)
{
Superclass::PrintSelf(os, indent);
os << indent << "DecimalPrecision: " << DecimalPrecision << "\n";
}
int cv::viz::vtkOBJWriter::FillInputPortInformation(int, vtkInformation *info)
{
info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
return 1;
}
vtkPolyData* cv::viz::vtkOBJWriter::GetInput()
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
}
vtkPolyData* cv::viz::vtkOBJWriter::GetInput(int port)
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
}

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modules/viz/src/vtk/vtkOBJWriter.h
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __vtkOBJWriter_h
#define __vtkOBJWriter_h
#include <vtkWriter.h>
namespace cv
{
namespace viz
{
class vtkOBJWriter : public vtkWriter
{
public:
static vtkOBJWriter *New();
vtkTypeMacro(vtkOBJWriter,vtkWriter)
void PrintSelf(ostream& os, vtkIndent indent);
vtkGetMacro(DecimalPrecision, int)
vtkSetMacro(DecimalPrecision, int)
// Description:
// Specify file name of data file to write.
vtkSetStringMacro(FileName)
vtkGetStringMacro(FileName)
// Description:
// Get the input to this writer.
vtkPolyData* GetInput();
vtkPolyData* GetInput(int port);
protected:
vtkOBJWriter();
~vtkOBJWriter();
void WriteData();
int FillInputPortInformation(int port, vtkInformation *info);
int DecimalPrecision;
char *FileName;
private:
vtkOBJWriter(const vtkOBJWriter&); // Not implemented.
void operator=(const vtkOBJWriter&); // Not implemented.
};
}
}
#endif

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modules/viz/src/vtk/vtkTrajectorySource.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkTrajectorySource);
}}
cv::viz::vtkTrajectorySource::vtkTrajectorySource() { SetNumberOfInputPorts(0); }
cv::viz::vtkTrajectorySource::~vtkTrajectorySource() {}
void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj)
{
CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
Mat traj;
_traj.getMat().convertTo(traj, CV_64F);
const Affine3d* dpath = traj.ptr<Affine3d>();
size_t total = traj.total();
points = vtkSmartPointer<vtkPoints>::New();
points->SetDataType(VTK_DOUBLE);
points->SetNumberOfPoints((vtkIdType)total);
tensors = vtkSmartPointer<vtkDoubleArray>::New();
tensors->SetNumberOfComponents(9);
tensors->SetNumberOfTuples((vtkIdType)total);
for(size_t i = 0; i < total; ++i, ++dpath)
{
Matx33d R = dpath->rotation().t(); // transposed because of
tensors->SetTuple((vtkIdType)i, R.val); // column major order
Vec3d p = dpath->translation();
points->SetPoint((vtkIdType)i, p.val);
}
}
cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj)
{
CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
Mat points(1, (int)_traj.total(), CV_MAKETYPE(_traj.depth(), 3));
const Affine3d* dpath = _traj.getMat().ptr<Affine3d>();
const Affine3f* fpath = _traj.getMat().ptr<Affine3f>();
if (_traj.depth() == CV_32F)
for(int i = 0; i < points.cols; ++i)
points.at<Vec3f>(i) = fpath[i].translation();
if (_traj.depth() == CV_64F)
for(int i = 0; i < points.cols; ++i)
points.at<Vec3d>(i) = dpath[i].translation();
return points;
}
int cv::viz::vtkTrajectorySource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
{
vtkInformation *outInfo = outputVector->GetInformationObject(0);
vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));
output->SetPoints(points);
output->GetPointData()->SetTensors(tensors);
return 1;
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __vtkTrajectorySource_h
#define __vtkTrajectorySource_h
#include <opencv2/core/mat.hpp>
#include <vtkPolyDataAlgorithm.h>
#include <vtkSmartPointer.h>
#include <vtkPoints.h>
#include <vtkCellArray.h>
namespace cv
{
namespace viz
{
class vtkTrajectorySource : public vtkPolyDataAlgorithm
{
public:
static vtkTrajectorySource *New();
vtkTypeMacro(vtkTrajectorySource,vtkPolyDataAlgorithm)
virtual void SetTrajectory(InputArray trajectory);
static Mat ExtractPoints(InputArray trajectory);
protected:
vtkTrajectorySource();
~vtkTrajectorySource();
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkDoubleArray> tensors;
int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *);
private:
vtkTrajectorySource(const vtkTrajectorySource&); // Not implemented.
void operator=(const vtkTrajectorySource&); // Not implemented.
};
}
}
#endif

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modules/viz/src/vtk/vtkVizInteractorStyle.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __OPENCV_VIZ_INTERACTOR_STYLE_H__
#define __OPENCV_VIZ_INTERACTOR_STYLE_H__
#include <vtkInteractorStyle.h>
namespace cv
{
namespace viz
{
class vtkVizInteractorStyle : public vtkInteractorStyle
{
public:
static vtkVizInteractorStyle *New();
vtkTypeMacro(vtkVizInteractorStyle, vtkInteractorStyle)
void PrintSelf(ostream& os, vtkIndent indent);
virtual void OnChar();
virtual void OnKeyDown();
virtual void OnKeyUp();
virtual void OnMouseMove();
virtual void OnLeftButtonDown();
virtual void OnLeftButtonUp();
virtual void OnMiddleButtonDown();
virtual void OnMiddleButtonUp();
virtual void OnRightButtonDown();
virtual void OnRightButtonUp();
virtual void OnMouseWheelForward();
virtual void OnMouseWheelBackward();
virtual void OnTimer();
virtual void Rotate();
virtual void Spin();
virtual void Pan();
virtual void Dolly();
vtkSetMacro(FlyMode,bool)
vtkGetMacro(FlyMode,bool)
vtkSetMacro(MotionFactor, double)
vtkGetMacro(MotionFactor, double)
void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
void setWidgetActorMap(const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
void saveScreenshot(const String &file);
void exportScene(const String &file);
void exportScene();
void changePointsSize(float delta);
void setRepresentationToPoints();
void printCameraParams();
void toggleFullScreen();
void resetViewerPose();
void toggleStereo();
void printHelp();
// Set the basic unit step size : by default 1/250 of bounding diagonal
vtkSetMacro(MotionStepSize,double)
vtkGetMacro(MotionStepSize,double)
// Set acceleration factor when shift key is applied : default 10
vtkSetMacro(MotionAccelerationFactor,double)
vtkGetMacro(MotionAccelerationFactor,double)
// Set the basic angular unit for turning : default 1 degree
vtkSetMacro(AngleStepSize,double)
vtkGetMacro(AngleStepSize,double)
private:
Ptr<WidgetActorMap> widget_actor_map_;
Vec2i win_size_;
Vec2i win_pos_;
Vec2i max_win_size_;
void zoomIn();
void zoomOut();
protected:
vtkVizInteractorStyle();
~vtkVizInteractorStyle();
virtual void Dolly(double factor);
void Fly();
void FlyByMouse();
void FlyByKey();
void SetupMotionVars();
void MotionAlongVector(const Vec3d& vector, double amount, vtkCamera* cam);
private:
vtkVizInteractorStyle(const vtkVizInteractorStyle&);
vtkVizInteractorStyle& operator=(const vtkVizInteractorStyle&);
//! True for red-blue colors, false for magenta-green.
bool stereo_anaglyph_redblue_;
void (*keyboardCallback_)(const KeyboardEvent&, void*);
void *keyboard_callback_cookie_;
void (*mouseCallback_)(const MouseEvent&, void*);
void *mouse_callback_cookie_;
bool FlyMode;
double MotionFactor;
int getModifiers();
// from fly
unsigned char KeysDown;
double DiagonalLength;
double MotionStepSize;
double MotionUserScale;
double MotionAccelerationFactor;
double AngleStepSize;
double DeltaYaw;
double DeltaPitch;
};
} // end namespace viz
} // end namespace cv
#endif

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modules/viz/src/vtk/vtkXYZReader.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkXYZReader);
}}
cv::viz::vtkXYZReader::vtkXYZReader()
{
this->FileName = 0;
this->SetNumberOfInputPorts(0);
}
cv::viz::vtkXYZReader::~vtkXYZReader()
{
this->SetFileName(0);
}
void cv::viz::vtkXYZReader::PrintSelf(ostream& os, vtkIndent indent)
{
this->Superclass::PrintSelf(os,indent);
os << indent << "FileName: " << (this->FileName ? this->FileName : "(none)") << "\n";
}
int cv::viz::vtkXYZReader::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector* outputVector)
{
// Make sure we have a file to read.
if(!this->FileName)
{
vtkErrorMacro("A FileName must be specified.");
return 0;
}
// Open the input file.
ifstream fin(this->FileName);
if(!fin)
{
vtkErrorMacro("Error opening file " << this->FileName);
return 0;
}
// Allocate objects to hold points and vertex cells.
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> verts = vtkSmartPointer<vtkCellArray>::New();
// Read points from the file.
vtkDebugMacro("Reading points from file " << this->FileName);
double x[3];
while(fin >> x[0] >> x[1] >> x[2])
{
vtkIdType id = points->InsertNextPoint(x);
verts->InsertNextCell(1, &id);
}
vtkDebugMacro("Read " << points->GetNumberOfPoints() << " points.");
// Store the points and cells in the output data object.
vtkPolyData* output = vtkPolyData::GetData(outputVector);
output->SetPoints(points);
output->SetVerts(verts);
return 1;
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __vtkXYZReader_h
#define __vtkXYZReader_h
#include "vtkPolyDataAlgorithm.h"
namespace cv
{
namespace viz
{
class vtkXYZReader : public vtkPolyDataAlgorithm
{
public:
static vtkXYZReader* New();
vtkTypeMacro(vtkXYZReader,vtkPolyDataAlgorithm)
void PrintSelf(ostream& os, vtkIndent indent);
// Description:
// Set/Get the name of the file from which to read points.
vtkSetStringMacro(FileName)
vtkGetStringMacro(FileName)
protected:
vtkXYZReader();
~vtkXYZReader();
char* FileName;
int RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector*);
private:
vtkXYZReader(const vtkXYZReader&); // Not implemented.
void operator=(const vtkXYZReader&); // Not implemented.
};
}
}
#endif

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modules/viz/src/vtk/vtkXYZWriter.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "../precomp.hpp"
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkXYZWriter);
}}
cv::viz::vtkXYZWriter::vtkXYZWriter()
{
std::ofstream fout; // only used to extract the default precision
this->DecimalPrecision = fout.precision();
}
void cv::viz::vtkXYZWriter::WriteData()
{
vtkPolyData *input = this->GetInput();
if (!input)
return;
if (!this->FileName )
{
vtkErrorMacro(<< "No FileName specified! Can't write!");
this->SetErrorCode(vtkErrorCode::NoFileNameError);
return;
}
vtkDebugMacro(<<"Opening vtk file for writing...");
ostream *outfilep = new ofstream(this->FileName, ios::out);
if (outfilep->fail())
{
vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
this->SetErrorCode(vtkErrorCode::CannotOpenFileError);
delete outfilep;
return;
}
ostream &outfile = *outfilep;
for(vtkIdType i = 0; i < input->GetNumberOfPoints(); ++i)
{
Vec3d p;
input->GetPoint(i, p.val);
outfile << std::setprecision(this->DecimalPrecision) << p[0] << " " << p[1] << " " << p[2] << std::endl;
}
// Close the file
vtkDebugMacro(<<"Closing vtk file\n");
delete outfilep;
// Delete the file if an error occurred
if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
{
vtkErrorMacro("Ran out of disk space; deleting file: " << this->FileName);
unlink(this->FileName);
}
}
int cv::viz::vtkXYZWriter::FillInputPortInformation(int, vtkInformation *info)
{
info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
return 1;
}
void cv::viz::vtkXYZWriter::PrintSelf(ostream& os, vtkIndent indent)
{
this->Superclass::PrintSelf(os,indent);
os << indent << "DecimalPrecision: " << this->DecimalPrecision << "\n";
}
vtkPolyData* cv::viz::vtkXYZWriter::GetInput()
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
}
vtkPolyData* cv::viz::vtkXYZWriter::GetInput(int port)
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
}

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modules/viz/src/vtk/vtkXYZWriter.h
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef __vtkXYZWriter_h
#define __vtkXYZWriter_h
#include "vtkWriter.h"
namespace cv
{
namespace viz
{
class vtkXYZWriter : public vtkWriter
{
public:
static vtkXYZWriter *New();
vtkTypeMacro(vtkXYZWriter,vtkWriter)
void PrintSelf(ostream& os, vtkIndent indent);
vtkGetMacro(DecimalPrecision, int)
vtkSetMacro(DecimalPrecision, int)
// Description:
// Specify file name of data file to write.
vtkSetStringMacro(FileName)
vtkGetStringMacro(FileName)
// Description:
// Get the input to this writer.
vtkPolyData* GetInput();
vtkPolyData* GetInput(int port);
protected:
vtkXYZWriter();
~vtkXYZWriter(){}
void WriteData();
int FillInputPortInformation(int port, vtkInformation *info);
int DecimalPrecision;
char *FileName;
private:
vtkXYZWriter(const vtkXYZWriter&); // Not implemented.
void operator=(const vtkXYZWriter&); // Not implemented.
};
}
}
#endif

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modules/viz/src/widget.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#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::Widget(const Widget& other) : impl_( new Impl() )
{
if (other.impl_ && other.impl_->prop)
impl_->prop = other.impl_->prop;
}
cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other)
{
if (!impl_)
impl_ = new Impl();
if (other.impl_)
impl_->prop = other.impl_->prop;
return *this;
}
cv::viz::Widget::~Widget()
{
if (impl_)
{
delete impl_;
impl_ = 0;
}
}
cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
{
CV_Assert(vtkPLYReader::CanReadFile(file_name.c_str()));
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
reader->SetFileName(file_name.c_str());
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
mapper->SetInputConnection( reader->GetOutputPort() );
#if VTK_MAJOR_VERSION < 8
mapper->ImmediateModeRenderingOff();
#endif
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
Widget widget;
WidgetAccessor::setProp(widget, actor);
return widget;
}
void cv::viz::Widget::setRenderingProperty(int property, double value)
{
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor);
switch (property)
{
case POINT_SIZE: actor->GetProperty()->SetPointSize(float(value)); break;
case OPACITY: actor->GetProperty()->SetOpacity(value); break;
case LINE_WIDTH: actor->GetProperty()->SetLineWidth(float(value)); break;
#if VTK_MAJOR_VERSION < 8
case IMMEDIATE_RENDERING: actor->GetMapper()->SetImmediateModeRendering(int(value)); break;
#else
case IMMEDIATE_RENDERING: std::cerr << "this property has no effect" << std::endl; break;
#endif
case AMBIENT: actor->GetProperty()->SetAmbient(float(value)); break;
case LIGHTING:
{
if (value == 0)
actor->GetProperty()->LightingOff();
else
actor->GetProperty()->LightingOn();
break;
}
case FONT_SIZE:
{
vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor);
CV_Assert("Widget does not have text content." && text_actor);
text_actor->GetTextProperty()->SetFontSize(int(value));
break;
}
case 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;
}
break;
}
case SHADING:
{
switch (int(value))
{
case SHADING_FLAT: actor->GetProperty()->SetInterpolationToFlat(); break;
case SHADING_GOURAUD:
{
if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals())
{
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
CV_Assert("Can't set shading property for such type of widget" && mapper);
vtkSmartPointer<vtkPolyData> with_normals = VtkUtils::ComputeNormals(mapper->GetInput());
VtkUtils::SetInputData(mapper, with_normals);
}
actor->GetProperty()->SetInterpolationToGouraud();
break;
}
case SHADING_PHONG:
{
if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals())
{
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
CV_Assert("Can't set shading property for such type of widget" && mapper);
vtkSmartPointer<vtkPolyData> with_normals = VtkUtils::ComputeNormals(mapper->GetInput());
VtkUtils::SetInputData(mapper, with_normals);
}
actor->GetProperty()->SetInterpolationToPhong();
break;
}
}
break;
}
default:
CV_Assert("setRenderingProperty: Unknown property");
}
actor->Modified();
}
double cv::viz::Widget::getRenderingProperty(int property) const
{
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor);
double value = 0.0;
switch (property)
{
case POINT_SIZE: value = actor->GetProperty()->GetPointSize(); break;
case OPACITY: value = actor->GetProperty()->GetOpacity(); break;
case LINE_WIDTH: value = actor->GetProperty()->GetLineWidth(); break;
#if VTK_MAJOR_VERSION < 8
case IMMEDIATE_RENDERING: value = actor->GetMapper()->GetImmediateModeRendering(); break;
#else
case IMMEDIATE_RENDERING: std::cerr << "this property has no effect" << std::endl; break;
#endif
case AMBIENT: value = actor->GetProperty()->GetAmbient(); break;
case LIGHTING: value = actor->GetProperty()->GetLighting(); break;
case FONT_SIZE:
{
vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor);
CV_Assert("Widget does not have text content." && text_actor);
value = text_actor->GetTextProperty()->GetFontSize();;
break;
}
case REPRESENTATION:
{
switch (actor->GetProperty()->GetRepresentation())
{
case VTK_POINTS: value = REPRESENTATION_POINTS; break;
case VTK_WIREFRAME: value = REPRESENTATION_WIREFRAME; break;
case VTK_SURFACE: value = REPRESENTATION_SURFACE; break;
}
break;
}
case SHADING:
{
switch (actor->GetProperty()->GetInterpolation())
{
case VTK_FLAT: value = SHADING_FLAT; break;
case VTK_GOURAUD: value = SHADING_GOURAUD; break;
case VTK_PHONG: value = SHADING_PHONG; break;
}
break;
}
default:
CV_Assert("getRenderingProperty: Unknown property");
}
return value;
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// widget accessor implementation
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
void cv::viz::Widget3D::setPose(const Affine3d &pose)
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
actor->SetUserMatrix(matrix);
actor->Modified();
}
void cv::viz::Widget3D::updatePose(const Affine3d &pose)
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setPose(pose);
return;
}
Affine3d updated_pose = pose * Affine3d(*matrix->Element);
matrix = vtkmatrix(updated_pose.matrix);
actor->SetUserMatrix(matrix);
actor->Modified();
}
cv::Affine3d cv::viz::Widget3D::getPose() const
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
if (!actor->GetUserMatrix())
{
return Affine3d(); // empty user matrix, return an identity transform.
}
return Affine3d(*actor->GetUserMatrix()->Element);
}
void cv::viz::Widget3D::applyTransform(const Affine3d &transform)
{
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D actor." && actor);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
CV_Assert("Widget doesn't have a polydata mapper" && mapper);
mapper->Update(); // #10945
VtkUtils::SetInputData(mapper, VtkUtils::TransformPolydata(mapper->GetInput(), transform));
mapper->Update();
}
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("Widget type is not supported." && 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>() const
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget cannot be cast." && 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("Widget type is not supported." && actor);
Color c = vtkcolor(color);
actor->GetProperty()->SetColor(c.val);
actor->Modified();
}
template<> cv::viz::Widget2D cv::viz::Widget::cast<cv::viz::Widget2D>() const
{
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget cannot be cast." && actor);
Widget2D widget;
WidgetAccessor::setProp(widget, actor);
return widget;
}

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modules/viz/test/test_common.cpp
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "test_precomp.hpp"
cv::String cv::Path::combine(const String& item1, const String& item2)
{
if (item1.empty())
return item2;
if (item2.empty())
return item1;
char last = item1[item1.size()-1];
bool need_append = last != '/' && last != '\\';
return item1 + (need_append ? "/" : "") + item2;
}
cv::String cv::Path::combine(const String& item1, const String& item2, const String& item3)
{ return combine(combine(item1, item2), item3); }
cv::String cv::Path::change_extension(const String& file, const String& ext)
{
String::size_type pos = file.find_last_of('.');
return pos == String::npos ? file : file.substr(0, pos+1) + ext;
}

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modules/viz/test/test_common.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#ifndef OPENCV_VIZ_TEST_COMMON_HPP
#define OPENCV_VIZ_TEST_COMMON_HPP
#include <opencv2/viz/vizcore.hpp>
namespace cv
{
struct Path
{
static String combine(const String& item1, const String& item2);
static String combine(const String& item1, const String& item2, const String& item3);
static String change_extension(const String& file, const String& ext);
};
inline cv::String get_dragon_ply_file_path()
{
return Path::combine(cvtest::TS::ptr()->get_data_path(), "dragon.ply");
}
template<typename _Tp>
inline std::vector< Affine3<_Tp> > generate_test_trajectory()
{
std::vector< Affine3<_Tp> > result;
for (int i = 0, j = 0; i <= 270; i += 3, j += 10)
{
double x = 2 * cos(i * 3 * CV_PI/180.0) * (1.0 + 0.5 * cos(1.2 + i * 1.2 * CV_PI/180.0));
double y = 0.25 + i/270.0 + sin(j * CV_PI/180.0) * 0.2 * sin(0.6 + j * 1.5 * CV_PI/180.0);
double z = 2 * sin(i * 3 * CV_PI/180.0) * (1.0 + 0.5 * cos(1.2 + i * CV_PI/180.0));
result.push_back(viz::makeCameraPose(Vec3d(x, y, z), Vec3d::all(0.0), Vec3d(0.0, 1.0, 0.0)));
}
return result;
}
inline Mat make_gray(const Mat& image)
{
Mat chs[3]; split(image, chs);
return 0.114 * chs[0] + 0.58 * chs[1] + 0.3 * chs[2];
}
}
#endif

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modules/viz/test/test_main.cpp
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "test_precomp.hpp"
CV_TEST_MAIN("viz")

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modules/viz/test/test_precomp.hpp
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "opencv2/ts.hpp"
#include "test_common.hpp"
namespace opencv_test
{
using namespace cv::viz;
}

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modules/viz/test/test_tutorial2.cpp
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "test_precomp.hpp"
namespace opencv_test { namespace {
static void tutorial2()
{
/// Create a window
viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Add line to represent (1,1,1) axis
viz::WLine axis(Point3f(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis);
/// Construct a cube widget
viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(0.0, 0.0, -0.5), true, viz::Color::blue());
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
/// Display widget (update if already displayed)
myWindow.showWidget("Cube Widget", cube_widget);
/// Rodrigues vector
Vec3d rot_vec = Vec3d::all(0);
double translation_phase = 0.0, translation = 0.0;
while(!myWindow.wasStopped())
{
/* Rotation using rodrigues */
/// Rotate around (1,1,1)
rot_vec[0] += CV_PI * 0.01;
rot_vec[1] += CV_PI * 0.01;
rot_vec[2] += CV_PI * 0.01;
/// Shift on (1,1,1)
translation_phase += CV_PI * 0.01;
translation = sin(translation_phase);
/// Construct pose
Affine3d pose(rot_vec, Vec3d(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
myWindow.spinOnce(1, true);
}
}
TEST(Viz, DISABLED_tutorial2_pose_of_widget)
{
tutorial2();
}
}} // namespace

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modules/viz/test/test_tutorial3.cpp
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "test_precomp.hpp"
namespace opencv_test { namespace {
/**
* @function main
*/
static void tutorial3(bool camera_pov)
{
/// Create a window
viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Let's assume camera has the following properties
Point3d cam_origin(3.0, 3.0, 3.0), cam_focal_point(3.0, 3.0, 2.0), cam_y_dir(-1.0, 0.0, 0.0);
/// We can get the pose of the cam using makeCameraPose
Affine3d camera_pose = viz::makeCameraPose(cam_origin, cam_focal_point, cam_y_dir);
/// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera
Affine3d transform = viz::makeTransformToGlobal(Vec3d(0.0, -1.0, 0.0), Vec3d(-1.0, 0.0, 0.0), Vec3d(0.0, 0.0, -1.0), cam_origin);
/// Create a cloud widget.
Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
viz::WCloud cloud_widget(dragon_cloud, viz::Color::green());
/// Pose of the widget in camera frame
Affine3d cloud_pose = Affine3d().rotate(Vec3d(0.0, CV_PI/2, 0.0)).rotate(Vec3d(0.0, 0.0, CV_PI)).translate(Vec3d(0.0, 0.0, 3.0));
/// Pose of the widget in global frame
Affine3d cloud_pose_global = transform * cloud_pose;
/// Visualize camera frame
myWindow.showWidget("CPW_FRUSTUM", viz::WCameraPosition(Vec2f(0.889484f, 0.523599f)), camera_pose);
if (!camera_pov)
myWindow.showWidget("CPW", viz::WCameraPosition(0.5), camera_pose);
/// Visualize widget
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
/// Set the viewer pose to that of camera
if (camera_pov)
myWindow.setViewerPose(camera_pose);
/// Start event loop.
myWindow.spin();
}
TEST(Viz, tutorial3_global_view)
{
tutorial3(false);
}
TEST(Viz, tutorial3_camera_view)
{
tutorial3(true);
}
}} // namespace

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modules/viz/test/test_viz3d.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and / or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "test_precomp.hpp"
namespace opencv_test { namespace {
TEST(Viz_viz3d, DISABLED_develop)
{
cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
cv::viz::Viz3d viz("abc");
viz.setBackgroundMeshLab();
viz.showWidget("coo", cv::viz::WCoordinateSystem(1));
viz.showWidget("cloud", cv::viz::WPaintedCloud(cloud));
//---->>>>> <to_test_in_future>
//std::vector<cv::Affine3d> gt, es;
//cv::viz::readTrajectory(gt, "d:/Datasets/trajs/gt%05d.xml");
//cv::viz::readTrajectory(es, "d:/Datasets/trajs/es%05d.xml");
//cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
//---->>>>> </to_test_in_future>
viz.spin();
}
}} // namespace

454
modules/viz/test/tests_simple.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and / or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "test_precomp.hpp"
namespace opencv_test { namespace {
TEST(Viz, show_cloud_bluberry)
{
Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
Viz3d viz("show_cloud_bluberry");
viz.setBackgroundColor(Color::black());
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_cloud_random_color)
{
Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
Mat colors(dragon_cloud.size(), CV_8UC3);
theRNG().fill(colors, RNG::UNIFORM, 0, 255);
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
Viz3d viz("show_cloud_random_color");
viz.setBackgroundMeshLab();
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_cloud_masked)
{
Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN());
for(int i = 0; i < (int)dragon_cloud.total(); ++i)
if (i % 15 != 0)
dragon_cloud.at<Vec3f>(i) = qnan;
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
Viz3d viz("show_cloud_masked");
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("dragon", WCloud(dragon_cloud), pose);
viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_cloud_collection)
{
Mat cloud = readCloud(get_dragon_ply_file_path());
WCloudCollection ccol;
ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0)));
ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0)));
ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0)));
ccol.finalize();
Viz3d viz("show_cloud_collection");
viz.setBackgroundColor(Color::mlab());
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("ccol", ccol);
viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_painted_clouds)
{
Mat cloud = readCloud(get_dragon_ply_file_path());
Viz3d viz("show_painted_clouds");
viz.setBackgroundMeshLab();
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0)));
viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0)));
viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_mesh)
{
Mesh mesh = Mesh::load(get_dragon_ply_file_path());
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
Viz3d viz("show_mesh");
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("mesh", WMesh(mesh), pose);
viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_mesh_random_colors)
{
Mesh mesh = Mesh::load(get_dragon_ply_file_path());
theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
Viz3d viz("show_mesh_random_color");
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("mesh", WMesh(mesh), pose);
viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_widget_merger)
{
WWidgetMerger merger;
merger.addWidget(WCube(Vec3d::all(0.0), Vec3d::all(1.0), true, Color::gold()));
RNG& rng = theRNG();
for(int i = 0; i < 77; ++i)
{
Vec3b c;
rng.fill(c, RNG::NORMAL, Scalar::all(128), Scalar::all(48), true);
merger.addWidget(WSphere(Vec3d(c)*(1.0/255.0), 7.0/255.0, 10, Color(c[2], c[1], c[0])));
}
merger.finalize();
Viz3d viz("show_mesh_random_color");
viz.showWidget("coo", WCoordinateSystem());
viz.showWidget("merger", merger);
viz.showWidget("text2d", WText("Widget merger", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_textured_mesh)
{
Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
std::vector<Vec3d> points;
std::vector<Vec2d> tcoords;
std::vector<int> polygons;
for(size_t i = 0; i < 64; ++i)
{
double angle = CV_PI/2 * i/64.0;
points.push_back(Vec3d(0.00, cos(angle), sin(angle))*0.75);
points.push_back(Vec3d(1.57, cos(angle), sin(angle))*0.75);
tcoords.push_back(Vec2d(0.0, i/64.0));
tcoords.push_back(Vec2d(1.0, i/64.0));
}
for(int i = 0; i < (int)points.size()/2-1; ++i)
{
int polys[] = {3, 2*i, 2*i+1, 2*i+2, 3, 2*i+1, 2*i+2, 2*i+3};
polygons.insert(polygons.end(), polys, polys + sizeof(polys)/sizeof(polys[0]));
}
cv::viz::Mesh mesh;
mesh.cloud = Mat(points, true).reshape(3, 1);
mesh.tcoords = Mat(tcoords, true).reshape(2, 1);
mesh.polygons = Mat(polygons, true).reshape(1, 1);
mesh.texture = lena;
Viz3d viz("show_textured_mesh");
viz.setBackgroundMeshLab();
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("mesh", WMesh(mesh));
viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_polyline)
{
const Color palette[] = { Color::red(), Color::green(), Color::blue(), Color::gold(), Color::raspberry(), Color::bluberry(), Color::lime() };
size_t palette_size = sizeof(palette)/sizeof(palette[0]);
Mat polyline(1, 32, CV_64FC3), colors(1, 32, CV_8UC3);
for(int i = 0; i < (int)polyline.total(); ++i)
{
polyline.at<Vec3d>(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6));
colors.at<Vec3b>(i) = palette[i & palette_size];
}
Viz3d viz("show_polyline");
viz.showWidget("polyline", WPolyLine(polyline, colors));
viz.showWidget("coosys", WCoordinateSystem());
viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_sampled_normals)
{
Mesh mesh = Mesh::load(get_dragon_ply_file_path());
computeNormals(mesh, mesh.normals);
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
Viz3d viz("show_sampled_normals");
viz.showWidget("mesh", WMesh(mesh), pose);
viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_cloud_shaded_by_normals)
{
Mesh mesh = Mesh::load(get_dragon_ply_file_path());
computeNormals(mesh, mesh.normals);
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
WCloud cloud(mesh.cloud, Color::white(), mesh.normals);
cloud.setRenderingProperty(SHADING, SHADING_GOURAUD);
Viz3d viz("show_cloud_shaded_by_normals");
viz.showWidget("cloud", cloud, pose);
viz.showWidget("text2d", WText("Cloud shaded by normals", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_trajectories)
{
std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5;
int size =(int)path.size();
Mat(path).rowRange(0, size/10+1).copyTo(sub0);
Mat(path).rowRange(size/10, size/5+1).copyTo(sub1);
Mat(path).rowRange(size/5, 11*size/12).copyTo(sub2);
Mat(path).rowRange(11*size/12, size).copyTo(sub3);
Mat(path).rowRange(3*size/4, 33*size/40).copyTo(sub4);
Mat(path).rowRange(33*size/40, 9*size/10).copyTo(sub5);
Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
Viz3d viz("show_trajectories");
viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07));
viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown()));
viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2));
viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green()));
viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow()));
viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15));
viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green()));
int i = 0;
while(!viz.wasStopped())
{
double a = --i % 360;
Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
viz.spinOnce(20, true);
}
viz.resetCamera();
viz.spin();
}
TEST(Viz, show_trajectory_reposition)
{
std::vector<Affine3f> path = generate_test_trajectory<float>();
Viz3d viz("show_trajectory_reposition_to_origin");
viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, (int)path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_camera_positions)
{
Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
Mat gray = make_gray(lena);
Affine3d poses[2];
for(int i = 0; i < 2; ++i)
{
Vec3d pose = 5 * Vec3d(sin(3.14 + 2.7 + i*60 * CV_PI/180), 0.4 - i*0.3, cos(3.14 + 2.7 + i*60 * CV_PI/180));
poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0));
}
Viz3d viz("show_camera_positions");
viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red()));
viz.showWidget("coos", WCoordinateSystem(1.5));
viz.showWidget("pos1", WCameraPosition(0.75), poses[0]);
viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]);
viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_overlay_image)
{
Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
Mat gray = make_gray(lena);
Size2d half_lsize = Size2d(lena.size()) * 0.5;
Viz3d viz("show_overlay_image");
viz.setBackgroundMeshLab();
Size vsz = viz.getWindowSize();
viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("cube", WCube());
viz.showWidget("img1", WImageOverlay(lena, Rect(Point(10, 10), half_lsize)));
viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize)));
viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize)));
viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize)));
viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green()));
int i = 0;
while(!viz.wasStopped())
{
double a = ++i % 360;
Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
viz.spinOnce(1, true);
}
viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_image_method)
{
Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
Viz3d viz("show_image_method");
viz.showImage(lena);
viz.spinOnce(1500, true);
viz.showImage(lena, lena.size());
viz.spinOnce(1500, true);
cv::viz::imshow("show_image_method", make_gray(lena)).spin();
}
TEST(Viz, show_image_3d)
{
Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
Mat gray = make_gray(lena);
Viz3d viz("show_image_3d");
viz.setBackgroundMeshLab();
viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("cube", WCube());
viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry()));
viz.showWidget("img0", WImage3D(lena, Size2d(1.0, 1.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(.5, 0.0, 0.0)));
viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry()));
viz.showWidget("img1", WImage3D(gray, Size2d(1.0, 1.0), Vec3d(-0.5, -0.5, 0.0), Vec3d(1.0, 1.0, 0.0), Vec3d(0.0, 1.0, 0.0)));
viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green()));
int i = 0;
while(!viz.wasStopped())
{
viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0));
viz.spinOnce(1, true);
}
viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_simple_widgets)
{
Viz3d viz("show_simple_widgets");
viz.setBackgroundMeshLab();
viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("cube", WCube());
viz.showWidget("cub0", WCube(Vec3d::all(-1.0), Vec3d::all(-0.5), false, Color::indigo()));
viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry()));
viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot()));
viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown()));
viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure()));
viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green()));
viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5, 0.5, 0.5), 0.125, false, Color::green()));
viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold()));
viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
viz.spin();
viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)");
viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
viz.spin();
}
TEST(Viz, show_follower)
{
Viz3d viz("show_follower");
viz.showWidget("coos", WCoordinateSystem());
viz.showWidget("cube", WCube());
viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true, Color::green()));
viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green()));
viz.setBackgroundMeshLab();
viz.spin();
viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
viz.spin();
}
}} // namespace
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