From 84d6fe397d90887c4a823d9e7e6666821aadf969 Mon Sep 17 00:00:00 2001
From: Anatoly Baksheev <no@email>
Date: Fri, 13 Dec 2013 19:20:20 +0400
Subject: [PATCH] reading/writing clouds functionality
---
modules/viz/include/opencv2/viz.hpp | 6 +
modules/viz/src/clouds.cpp | 5 +-
modules/viz/src/precomp.hpp | 20 +-
modules/viz/src/vizcore.cpp | 112 ++++++++
.../viz/src/vtk/vtkCloudColorMatSource.cpp | 168 ------------
modules/viz/src/vtk/vtkCloudMatSource.cpp | 68 +++++
modules/viz/src/vtk/vtkCloudMatSource.h | 5 +
modules/viz/src/vtk/vtkColorMatSource.cpp | 132 ----------
modules/viz/src/vtk/vtkOBJWriter.cpp | 241 ++++++++++++++++++
.../{vtkColorMatSource.h => vtkOBJWriter.h} | 35 ++-
modules/viz/src/vtk/vtkXYZWriter.cpp | 93 +++++++
...tkCloudColorMatSource.h => vtkXYZWriter.h} | 42 ++-
modules/viz/test/test_tutorial3.cpp | 24 +-
13 files changed, 578 insertions(+), 373 deletions(-)
delete mode 100644 modules/viz/src/vtk/vtkCloudColorMatSource.cpp
delete mode 100644 modules/viz/src/vtk/vtkColorMatSource.cpp
create mode 100644 modules/viz/src/vtk/vtkOBJWriter.cpp
rename modules/viz/src/vtk/{vtkColorMatSource.h => vtkOBJWriter.h} (71%)
create mode 100644 modules/viz/src/vtk/vtkXYZWriter.cpp
rename modules/viz/src/vtk/{vtkCloudColorMatSource.h => vtkXYZWriter.h} (65%)
diff --git a/modules/viz/include/opencv2/viz.hpp b/modules/viz/include/opencv2/viz.hpp
index 65ad10aacc..49b36a9b2f 100644
--- a/modules/viz/include/opencv2/viz.hpp
+++ b/modules/viz/include/opencv2/viz.hpp
@@ -92,6 +92,12 @@ namespace cv
{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+ /// Read/write clouds. Supported formats: ply, stl, xyz, obj
+
+ CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray());
+ CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = cv::noArray());
+
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write poses and trajectories
diff --git a/modules/viz/src/clouds.cpp b/modules/viz/src/clouds.cpp
index 8549acafdb..555da22d0f 100644
--- a/modules/viz/src/clouds.cpp
+++ b/modules/viz/src/clouds.cpp
@@ -69,9 +69,8 @@ cv::viz::WCloud::WCloud(InputArray _cloud, InputArray _colors)
colors = colors.reshape(colors.channels(), 1);
}
- vtkSmartPointer<vtkCloudColorMatSource> cloud_source = vtkSmartPointer<vtkCloudColorMatSource>::New();
- cloud_source->SetCloud(cloud);
- cloud_source->SetColors(colors, cloud);
+ vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+ cloud_source->SetColorCloud(cloud, colors);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(cloud_source->GetOutputPort());
diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp
index 7741dc7df5..6b2c1478e1 100644
--- a/modules/viz/src/precomp.hpp
+++ b/modules/viz/src/precomp.hpp
@@ -50,6 +50,7 @@
#include <ctime>
#include <list>
#include <vector>
+#include <iomanip>
#include <vtkAppendPolyData.h>
#include <vtkAssemblyPath.h>
@@ -113,16 +114,31 @@
#include <vtkObjectFactory.h>
#include <vtkPolyDataAlgorithm.h>
#include <vtkMergeFilter.h>
+#include <vtkDataSetWriter.h>
+#include <vtkErrorCode.h>
+#include <vtkPLYWriter.h>
+#include <vtkSTLWriter.h>
+#include <vtkSimplePointsReader.h>
+#include <vtkPLYReader.h>
+#include <vtkOBJReader.h>
+#include <vtkSTLReader.h>
+
+#if !defined(_WIN32) || defined(__CYGWIN__)
+# include <unistd.h> /* unlink */
+#else
+# include <io.h> /* unlink */
+#endif
#include <vtk/vtkCloudMatSource.h>
-#include <vtk/vtkColorMatSource.h>
-#include <vtk/vtkCloudColorMatSource.h>
+#include <vtk/vtkOBJWriter.h>
+#include <vtk/vtkXYZWriter.h>
#include <opencv2/core.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/viz/widget_accessor.hpp>
#include <opencv2/core/utility.hpp>
+
namespace cv
{
namespace viz
diff --git a/modules/viz/src/vizcore.cpp b/modules/viz/src/vizcore.cpp
index dd998e7d92..5a1a7a8fe2 100644
--- a/modules/viz/src/vizcore.cpp
+++ b/modules/viz/src/vizcore.cpp
@@ -161,6 +161,118 @@ cv::String cv::viz::VizStorage::generateWindowName(const String &window_name)
cv::viz::Viz3d cv::viz::get(const String &window_name) { return Viz3d (window_name); }
void cv::viz::unregisterAllWindows() { VizStorage::unregisterAll(); }
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Read/write clouds. Supported formats: ply, stl, xyz, obj
+
+void cv::viz::writeCloud(const String& file, InputArray _cloud, InputArray _colors)
+{
+ CV_Assert(file.size() > 4 && "Extention is required");
+ String extention = file.substr(file.size()-4);
+
+ Mat cloud = _cloud.getMat();
+ Mat colors = _colors.getMat();
+
+ vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
+ source->SetColorCloud(cloud, colors);
+
+ vtkSmartPointer<vtkWriter> writer;
+ if (extention == ".xyz")
+ {
+ writer = vtkSmartPointer<vtkXYZWriter>::New();
+ vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+ }
+ else if (extention == ".ply")
+ {
+ writer = vtkSmartPointer<vtkPLYWriter>::New();
+ vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+ }
+ else if (extention == ".obj")
+ {
+ writer = vtkSmartPointer<vtkOBJWriter>::New();
+ vtkOBJWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+ }
+ else if (extention == ".stl")
+ {
+ writer = vtkSmartPointer<vtkSTLWriter>::New();
+ vtkSTLWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+ }
+ else
+ CV_Assert(!"Unsupported format");
+
+ writer->SetInputConnection(source->GetOutputPort());
+ writer->Write();
+}
+
+cv::Mat cv::viz::readCloud(const String& file, OutputArray colors)
+{
+ CV_Assert(file.size() > 4 && "Extention is required");
+ String extention = file.substr(file.size()-4);
+
+ vtkSmartPointer<vtkPolyDataAlgorithm> reader;
+ if (extention == ".xyz")
+ {
+ reader = vtkSmartPointer<vtkSimplePointsReader>::New();
+ vtkSimplePointsReader::SafeDownCast(reader)->SetFileName(file.c_str());
+ }
+ else if (extention == ".ply")
+ {
+ reader = vtkSmartPointer<vtkPLYReader>::New();
+ CV_Assert(vtkPLYReader::CanReadFile(file.c_str()));
+ vtkPLYReader::SafeDownCast(reader)->SetFileName(file.c_str());
+ }
+ else if (extention == ".obj")
+ {
+ reader = vtkSmartPointer<vtkOBJReader>::New();
+ vtkOBJReader::SafeDownCast(reader)->SetFileName(file.c_str());
+ }
+ else if (extention == ".stl")
+ {
+ reader = vtkSmartPointer<vtkSTLReader>::New();
+ vtkSTLReader::SafeDownCast(reader)->SetFileName(file.c_str());
+ }
+ else
+ CV_Assert(!"Unsupported format");
+
+ reader->Update();
+ vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput();
+ vtkSmartPointer<vtkPoints> points = poly_data->GetPoints();
+
+ int vtktype = points->GetDataType();
+ CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE);
+
+ Mat cloud(1, points->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3);
+ Vec3d *ddata = cloud.ptr<Vec3d>();
+ Vec3f *fdata = cloud.ptr<Vec3f>();
+
+ if (cloud.depth() == CV_32F)
+ for(size_t i = 0; i < cloud.total(); ++i)
+ *fdata++ = Vec3d(points->GetPoint(i));
+
+ if (cloud.depth() == CV_64F)
+ for(size_t i = 0; i < cloud.total(); ++i)
+ *ddata++ = Vec3d(points->GetPoint(i));
+
+ vtkSmartPointer<vtkDataArray> scalars = poly_data->GetPointData() ? poly_data->GetPointData()->GetScalars() : 0;
+
+ if (colors.needed() && scalars)
+ {
+ int channels = scalars->GetNumberOfComponents();
+ int vtktype = scalars->GetDataType();
+
+ CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented");
+ CV_Assert(cloud.total() == (size_t)scalars->GetNumberOfTuples());
+ Mat buffer(cloud.size(), CV_64FC(channels));
+ Vec3d *cptr = buffer.ptr<Vec3d>();
+ for(size_t i = 0; i < colors.total(); ++i)
+ *cptr++ = Vec3d(scalars->GetTuple(i));
+
+ buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ? 255.0 : 1.0);
+ }
+ else
+ colors.release();
+
+ return cloud;
+}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write poses and trajectories
diff --git a/modules/viz/src/vtk/vtkCloudColorMatSource.cpp b/modules/viz/src/vtk/vtkCloudColorMatSource.cpp
deleted file mode 100644
index 8979873eb3..0000000000
--- a/modules/viz/src/vtk/vtkCloudColorMatSource.cpp
+++ /dev/null
@@ -1,168 +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:
-// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
-//
-//M*/
-
-#include "precomp.hpp"
-
-namespace cv { namespace viz
-{
- vtkStandardNewMacro(vtkCloudColorMatSource);
-
- struct IsNotNan
- {
- template<typename _Tp>
- bool operator()(const _Tp* data) const
- {
- return !isNan(data[0]) && !isNan(data[1]) && !isNan(data[2]);
- }
- };
-}}
-
-cv::viz::vtkCloudColorMatSource::vtkCloudColorMatSource() { SetNumberOfInputPorts(0); }
-cv::viz::vtkCloudColorMatSource::~vtkCloudColorMatSource() {}
-
-void cv::viz::vtkCloudColorMatSource::SetCloud(const Mat& cloud)
-{
- CV_Assert(cloud.depth() == CV_32F || cloud.depth() == CV_64F);
- CV_Assert(cloud.channels() == 3 || cloud.channels() == 4);
-
- int total = cloud.depth() == CV_32F ? filterNanCopy<float >(cloud, VTK_FLOAT)
- : filterNanCopy<double>(cloud, VTK_DOUBLE);
-
- vertices = vtkSmartPointer<vtkCellArray>::New();
- vertices->Allocate(vertices->EstimateSize(1, total));
- vertices->InsertNextCell(total);
- for(int i = 0; i < total; ++i)
- vertices->InsertCellPoint(i);
-}
-
-void cv::viz::vtkCloudColorMatSource::SetColors(const Mat &colors, const Mat &cloud_mask)
-{
- CV_Assert(colors.depth() == CV_8U && colors.channels() <= 4 && colors.channels() != 2);
- CV_Assert(cloud_mask.depth() == CV_32F || cloud_mask.depth() == CV_64F);
- CV_Assert(colors.size() == cloud_mask.size());
-
- if (cloud_mask.depth() == CV_32F)
- filterNanCopy<float, IsNotNan>(colors, cloud_mask);
- else if (cloud_mask.depth() == CV_64F)
- filterNanCopy<double, IsNotNan>(colors, cloud_mask);
-}
-
-int cv::viz::vtkCloudColorMatSource::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);
- output->GetPointData()->SetScalars(scalars);
- return 1;
-}
-
-template<typename _Tp>
-int cv::viz::vtkCloudColorMatSource::filterNanCopy(const Mat& source, int dataType)
-{
- CV_DbgAssert(DataType<_Tp>::depth == source.depth());
- points = vtkSmartPointer<vtkPoints>::New();
- points->SetDataType(dataType);
- points->Allocate(source.total());
- points->SetNumberOfPoints(source.total());
-
- int cn = source.channels();
- int total = 0;
- for (int y = 0; y < source.rows; ++y)
- {
- const _Tp* srow = source.ptr<_Tp>(y);
- const _Tp* send = srow + source.cols * cn;
-
- for (; srow != send; srow += cn)
- if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
- points->SetPoint(total++, srow);
- }
- points->SetNumberOfPoints(total);
- points->Squeeze();
- return total;
-}
-
-template<typename _Msk, class _NanPred>
-void cv::viz::vtkCloudColorMatSource::filterNanCopy(const Mat& colors, const Mat& mask)
-{
- Mat buffer(colors.size(), CV_8UC3);
- Vec3b* pos = buffer.ptr<Vec3b>();
-
- int s_chs = colors.channels();
- int m_chs = mask.channels();
-
- _NanPred pred;
-
- for (int y = 0; y < colors.rows; ++y)
- {
- const unsigned char* srow = colors.ptr<unsigned char>(y);
- const unsigned char* send = srow + colors.cols * colors.channels();
- const _Msk* mrow = mask.empty() ? 0 : mask.ptr<_Msk>(y);
-
- if (colors.channels() == 1)
- {
- for (; srow != send; srow += s_chs, mrow += m_chs)
- if (pred(mrow))
- *pos++ = Vec3b(srow[0], srow[0], srow[0]);
- }
- else
- for (; srow != send; srow += s_chs, mrow += m_chs)
- if (pred(mrow))
- *pos++ = Vec3b(srow[2], srow[1], srow[0]);
-
- }
-
- int total = pos - buffer.ptr<Vec3b>();
- Vec3b* array = new Vec3b[total];
- std::copy(buffer.ptr<Vec3b>(), pos, array);
-
- scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
- scalars->SetName("colors");
- scalars->SetNumberOfComponents(3);
- scalars->SetNumberOfTuples(total);
- scalars->SetArray(array->val, total * 3, 0);
-}
-
-
diff --git a/modules/viz/src/vtk/vtkCloudMatSource.cpp b/modules/viz/src/vtk/vtkCloudMatSource.cpp
index a27653a4f6..f533361bca 100644
--- a/modules/viz/src/vtk/vtkCloudMatSource.cpp
+++ b/modules/viz/src/vtk/vtkCloudMatSource.cpp
@@ -47,6 +47,14 @@
namespace cv { namespace viz
{
vtkStandardNewMacro(vtkCloudMatSource);
+
+ struct IsNotNan
+ {
+ template<typename _Tp> bool operator()(const _Tp* data) const
+ {
+ return !isNan(data[0]) && !isNan(data[1]) && !isNan(data[2]);
+ }
+ };
}}
cv::viz::vtkCloudMatSource::vtkCloudMatSource() { SetNumberOfInputPorts(0); }
@@ -67,6 +75,22 @@ void cv::viz::vtkCloudMatSource::SetCloud(const Mat& cloud)
vertices->InsertCellPoint(i);
}
+void cv::viz::vtkCloudMatSource::SetColorCloud(const Mat &cloud, const Mat &colors)
+{
+ vtkCloudMatSource::SetCloud(cloud);
+
+ if (colors.empty())
+ return;
+
+ CV_Assert(colors.depth() == CV_8U && colors.channels() <= 4 && colors.channels() != 2);
+ CV_Assert(colors.size() == cloud.size());
+
+ if (cloud.depth() == CV_32F)
+ filterNanColorsCopy<float, IsNotNan>(colors, cloud);
+ else if (cloud.depth() == CV_64F)
+ filterNanColorsCopy<double, IsNotNan>(colors, cloud);
+}
+
int cv::viz::vtkCloudMatSource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
{
vtkInformation *outInfo = outputVector->GetInformationObject(0);
@@ -74,6 +98,8 @@ int cv::viz::vtkCloudMatSource::RequestData(vtkInformation *vtkNotUsed(request),
output->SetPoints(points);
output->SetVerts(vertices);
+ if (scalars)
+ output->GetPointData()->SetScalars(scalars);
return 1;
}
@@ -103,3 +129,45 @@ int cv::viz::vtkCloudMatSource::filterNanCopy(const Mat& source, int dataType)
}
+template<typename _Msk, class _NanPred>
+void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& colors, const Mat& mask)
+{
+ Mat buffer(colors.size(), CV_8UC3);
+ Vec3b* pos = buffer.ptr<Vec3b>();
+
+ int s_chs = colors.channels();
+ int m_chs = mask.channels();
+
+ _NanPred pred;
+
+ for (int y = 0; y < colors.rows; ++y)
+ {
+ const unsigned char* srow = colors.ptr<unsigned char>(y);
+ const unsigned char* send = srow + colors.cols * colors.channels();
+ const _Msk* mrow = mask.empty() ? 0 : mask.ptr<_Msk>(y);
+
+ if (colors.channels() == 1)
+ {
+ for (; srow != send; srow += s_chs, mrow += m_chs)
+ if (pred(mrow))
+ *pos++ = Vec3b(srow[0], srow[0], srow[0]);
+ }
+ else
+ for (; srow != send; srow += s_chs, mrow += m_chs)
+ if (pred(mrow))
+ *pos++ = Vec3b(srow[2], srow[1], srow[0]);
+
+ }
+
+ int total = pos - buffer.ptr<Vec3b>();
+ Vec3b* array = new Vec3b[total];
+ std::copy(buffer.ptr<Vec3b>(), pos, array);
+
+ scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
+ scalars->SetName("colors");
+ scalars->SetNumberOfComponents(3);
+ scalars->SetNumberOfTuples(total);
+ scalars->SetArray(array->val, total * 3, 0);
+}
+
+
diff --git a/modules/viz/src/vtk/vtkCloudMatSource.h b/modules/viz/src/vtk/vtkCloudMatSource.h
index 6a8dbebd16..876ab994f6 100644
--- a/modules/viz/src/vtk/vtkCloudMatSource.h
+++ b/modules/viz/src/vtk/vtkCloudMatSource.h
@@ -62,6 +62,7 @@ namespace cv
vtkTypeMacro(vtkCloudMatSource,vtkPolyDataAlgorithm);
virtual void SetCloud(const Mat& cloud);
+ virtual void SetColorCloud(const Mat &cloud, const Mat &colors = cv::Mat());
protected:
vtkCloudMatSource();
@@ -71,11 +72,15 @@ namespace cv
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkCellArray> vertices;
+ vtkSmartPointer<vtkUnsignedCharArray> scalars;
private:
vtkCloudMatSource(const vtkCloudMatSource&); // Not implemented.
void operator=(const vtkCloudMatSource&); // Not implemented.
template<typename _Tp> int filterNanCopy(const Mat& source, int dataType);
+
+ template<typename _Msk, class _NanPred>
+ void filterNanColorsCopy(const Mat& colors, const Mat& mask);
};
}
}
diff --git a/modules/viz/src/vtk/vtkColorMatSource.cpp b/modules/viz/src/vtk/vtkColorMatSource.cpp
deleted file mode 100644
index aa09a2d49d..0000000000
--- a/modules/viz/src/vtk/vtkColorMatSource.cpp
+++ /dev/null
@@ -1,132 +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:
-// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
-//
-//M*/
-
-#include "precomp.hpp"
-
-namespace cv { namespace viz
-{
- vtkStandardNewMacro(vtkColorMatSource);
-
- struct IsNotNan
- {
- template<typename _Tp>
- bool operator()(const _Tp* data) const
- {
- return !isNan(data[0]) && !isNan(data[1]) && !isNan(data[2]);
- }
- };
-
- struct AllOk
- {
- template<typename _Tp>
- bool operator()(const _Tp*) const { return true; }
- };
-}}
-
-cv::viz::vtkColorMatSource::vtkColorMatSource() { SetNumberOfInputPorts(0); }
-cv::viz::vtkColorMatSource::~vtkColorMatSource() {}
-
-void cv::viz::vtkColorMatSource::SetColors(const Mat &colors, const Mat& mask)
-{
- CV_Assert(colors.depth() == CV_8U && colors.channels() <= 4 && colors.channels() != 2);
- CV_Assert(mask.empty() || mask.depth() == CV_32F || mask.depth() == CV_64F);
-
- if (!mask.empty() && mask.depth() == CV_32F)
- filterNanCopy<float, IsNotNan>(colors, mask);
- else if (!mask.empty() && mask.depth() == CV_64F)
- filterNanCopy<double, IsNotNan>(colors, mask);
- else /* mask.empty() */
- filterNanCopy<double, AllOk>(colors, mask);
-}
-
-int cv::viz::vtkColorMatSource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
-{
- vtkInformation *outInfo = outputVector->GetInformationObject(0);
- vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));
-
- output->GetPointData()->SetScalars(scalars);
-
- return 1;
-}
-
-template<typename _Msk, class _NanPred>
-void cv::viz::vtkColorMatSource::filterNanCopy(const Mat& colors, const Mat& cloud_mask)
-{
- Mat buffer(colors.size(), CV_8UC3);
- Vec3b* pos = buffer.ptr<Vec3b>();
-
- int s_chs = colors.channels();
- int m_chs = cloud_mask.channels();
-
- _NanPred pred;
-
- for (int y = 0; y < colors.rows; ++y)
- {
- const unsigned char* srow = colors.ptr<unsigned char>(y);
- const unsigned char* send = srow + colors.cols * colors.channels();
- const _Msk* mrow = cloud_mask.empty() ? 0 : cloud_mask.ptr<_Msk>(y);
-
- if (colors.channels() == 1)
- {
- for (; srow != send; srow += s_chs, mrow += m_chs)
- if (pred(mrow))
- *pos++ = Vec3b(srow[0], srow[0], srow[0]);
- }
- else
- for (; srow != send; srow += s_chs, mrow += m_chs)
- if (pred(mrow))
- *pos++ = Vec3b(srow[2], srow[1], srow[0]);
-
- }
-
- int total = pos - buffer.ptr<Vec3b>();
- Vec3b* array = new Vec3b[total];
- std::copy(buffer.ptr<Vec3b>(), pos, array);
-
- scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
- scalars->SetName("colors");
- scalars->SetNumberOfComponents(3);
- scalars->SetNumberOfTuples(total);
- scalars->SetArray(array->val, total * 3, 0);
-}
diff --git a/modules/viz/src/vtk/vtkOBJWriter.cpp b/modules/viz/src/vtk/vtkOBJWriter.cpp
new file mode 100644
index 0000000000..452ad19a7a
--- /dev/null
+++ b/modules/viz/src/vtk/vtkOBJWriter.cpp
@@ -0,0 +1,241 @@
+/*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;
+ this->FileType = VTK_ASCII;
+}
+
+cv::viz::vtkOBJWriter::~vtkOBJWriter(){}
+
+void cv::viz::vtkOBJWriter::WriteData()
+{
+ vtkPolyData *input = this->GetInput();
+ if (!input)
+ return;
+
+ std::ostream *outfilep = this->OpenVTKFile();
+ if (!outfilep)
+ return;
+
+ std::ostream& outfile = *outfilep;
+
+ //write header
+ outfile << "# wavefront obj file written by the visualization toolkit" << 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) */
+
+ this->CloseVTKFile(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";
+}
diff --git a/modules/viz/src/vtk/vtkColorMatSource.h b/modules/viz/src/vtk/vtkOBJWriter.h
similarity index 71%
rename from modules/viz/src/vtk/vtkColorMatSource.h
rename to modules/viz/src/vtk/vtkOBJWriter.h
index d1650faad8..9bf5403e43 100644
--- a/modules/viz/src/vtk/vtkColorMatSource.h
+++ b/modules/viz/src/vtk/vtkOBJWriter.h
@@ -42,39 +42,36 @@
//
//M*/
-#ifndef __vtkColorMatSource_h
-#define __vtkColorMatSource_h
+#ifndef __vtkOBJWriter_h
+#define __vtkOBJWriter_h
-#include <opencv2/core/mat.hpp>
-#include <vtkPolyDataAlgorithm.h>
-#include <vtkSmartPointer.h>
+#include <vtkPolyDataWriter.h>
namespace cv
{
namespace viz
{
- class vtkColorMatSource : public vtkPolyDataAlgorithm
+ class vtkOBJWriter : public vtkPolyDataWriter
{
public:
- static vtkColorMatSource *New();
- vtkTypeMacro(vtkColorMatSource,vtkPolyDataAlgorithm);
-
- virtual void SetColors(const Mat &colors, const Mat &cloud_mask = Mat());
+ static vtkOBJWriter *New();
+ vtkTypeMacro(vtkOBJWriter,vtkPolyDataWriter);
+ void PrintSelf(ostream& os, vtkIndent indent);
+ vtkGetMacro(DecimalPrecision, int);
+ vtkSetMacro(DecimalPrecision, int);
protected:
- vtkColorMatSource();
- ~vtkColorMatSource();
+ vtkOBJWriter();
+ ~vtkOBJWriter();
- int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *);
+ void WriteData();
- vtkSmartPointer<vtkUnsignedCharArray> scalars;
- private:
- vtkColorMatSource(const vtkColorMatSource&); // Not implemented.
- void operator=(const vtkColorMatSource&); // Not implemented.
+ int DecimalPrecision;
- template<typename _Msk, class _NanPred>
- void filterNanCopy(const Mat& colors, const Mat& mask);
+ private:
+ vtkOBJWriter(const vtkOBJWriter&); // Not implemented.
+ void operator=(const vtkOBJWriter&); // Not implemented.
};
}
}
diff --git a/modules/viz/src/vtk/vtkXYZWriter.cpp b/modules/viz/src/vtk/vtkXYZWriter.cpp
new file mode 100644
index 0000000000..4518a0103a
--- /dev/null
+++ b/modules/viz/src/vtk/vtkXYZWriter.cpp
@@ -0,0 +1,93 @@
+/*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;
+
+ // OpenVTKFile() will report any errors that happen
+ ostream *outfilep = this->OpenVTKFile();
+ if (!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
+ this->CloseVTKFile(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::vtkXYZWriter::PrintSelf(ostream& os, vtkIndent indent)
+{
+ this->Superclass::PrintSelf(os,indent);
+ os << indent << "DecimalPrecision: " << this->DecimalPrecision << "\n";
+}
diff --git a/modules/viz/src/vtk/vtkCloudColorMatSource.h b/modules/viz/src/vtk/vtkXYZWriter.h
similarity index 65%
rename from modules/viz/src/vtk/vtkCloudColorMatSource.h
rename to modules/viz/src/vtk/vtkXYZWriter.h
index 0aa5b87a3e..bc49d10ef1 100644
--- a/modules/viz/src/vtk/vtkCloudColorMatSource.h
+++ b/modules/viz/src/vtk/vtkXYZWriter.h
@@ -42,47 +42,37 @@
//
//M*/
-#ifndef __vtkCloudColorMatSource_h
-#define __vtkCloudColorMatSource_h
+#ifndef __vtkXYZWriter_h
+#define __vtkXYZWriter_h
-#include <opencv2/core/mat.hpp>
-#include <vtkPolyDataAlgorithm.h>
-#include <vtkSmartPointer.h>
-#include <vtkPoints.h>
-#include <vtkCellArray.h>
+#include "vtkPolyDataWriter.h"
namespace cv
{
namespace viz
{
- class vtkCloudColorMatSource : public vtkPolyDataAlgorithm
+ class vtkXYZWriter : public vtkPolyDataWriter
{
public:
- static vtkCloudColorMatSource *New();
- vtkTypeMacro(vtkCloudColorMatSource,vtkPolyDataAlgorithm);
+ static vtkXYZWriter *New();
+ vtkTypeMacro(vtkXYZWriter,vtkPolyDataWriter);
+ void PrintSelf(ostream& os, vtkIndent indent);
- virtual void SetCloud(const Mat& cloud);
- virtual void SetColors(const Mat &colors, const Mat &cloud_mask);
+ vtkGetMacro(DecimalPrecision, int);
+ vtkSetMacro(DecimalPrecision, int);
protected:
- vtkCloudColorMatSource();
- ~vtkCloudColorMatSource();
+ vtkXYZWriter();
+ ~vtkXYZWriter(){}
- int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *);
+ void WriteData();
- vtkSmartPointer<vtkPoints> points;
- vtkSmartPointer<vtkCellArray> vertices;
- vtkSmartPointer<vtkUnsignedCharArray> scalars;
- private:
- vtkCloudColorMatSource(const vtkCloudColorMatSource&); // Not implemented.
- void operator=(const vtkCloudColorMatSource&); // Not implemented.
-
- template<typename _Tp> int filterNanCopy(const Mat& source, int dataType);
+ int DecimalPrecision;
- template<typename _Msk, class _NanPred>
- void filterNanCopy(const Mat& colors, const Mat& mask);
+ private:
+ vtkXYZWriter(const vtkXYZWriter&); // Not implemented.
+ void operator=(const vtkXYZWriter&); // Not implemented.
};
}
}
-
#endif
diff --git a/modules/viz/test/test_tutorial3.cpp b/modules/viz/test/test_tutorial3.cpp
index 6c63763dfd..12eca311c1 100644
--- a/modules/viz/test/test_tutorial3.cpp
+++ b/modules/viz/test/test_tutorial3.cpp
@@ -3,28 +3,6 @@
using namespace cv;
using namespace std;
-/**
- * @function cvcloud_load
- * @brief load bunny.ply
- */
-Mat cvcloud_load()
-{
- Mat cloud(1, 20000, CV_32FC3);
- ifstream ifs("d:/cloud_dragon.ply");
-
- string str;
- for(size_t i = 0; i < 12; ++i)
- getline(ifs, str);
-
- Point3f* data = cloud.ptr<cv::Point3f>();
- //float dummy1, dummy2;
- for(size_t i = 0; i < 20000; ++i)
- ifs >> data[i].x >> data[i].y >> data[i].z;// >> dummy1 >> dummy2;
-
- //cloud *= 5.0f;
- return cloud;
-}
-
/**
* @function main
*/
@@ -47,7 +25,7 @@ void tutorial3(bool camera_pov)
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
/// Create a cloud widget.
- Mat bunny_cloud = cvcloud_load();
+ Mat bunny_cloud = viz::readCloud("d:/cloud_dragon.ply");
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame