optimized Mat to vtkImageData conversion

modules/viz/src/precomp.hpp

@@ -127,6 +127,7 @@
 #include <vtkTensorGlyph.h>
 #include <vtkImageAlgorithm.h>
 #include <vtkTransformFilter.h>
+#include <vtkStreamingDemandDrivenPipeline.h>
 
 #if !defined(_WIN32) || defined(__CYGWIN__)
 # include <unistd.h> /* unlink */

modules/viz/src/vtk/vtkImageMatSource.cpp

@@ -44,15 +44,6 @@
 
 #include "precomp.hpp"
 
-
-#include "vtkImageData.h"
-#include "vtkImageProgressIterator.h"
-#include "vtkMath.h"
-#include "vtkInformation.h"
-#include "vtkInformationVector.h"
-#include "vtkObjectFactory.h"
-#include "vtkStreamingDemandDrivenPipeline.h"
-
 namespace cv { namespace viz
 {
     vtkStandardNewMacro(vtkImageMatSource);
@@ -93,48 +84,60 @@ void cv::viz::vtkImageMatSource::SetImage(InputArray _image)
 
     this->ImageData->SetDimensions(image.cols, image.rows, 1);
 #if VTK_MAJOR_VERSION <= 5
-    this->ImageData->SetNumberOfScalarComponents(std::min(3, image.channels()));
+    this->ImageData->SetNumberOfScalarComponents(image.channels());
     this->ImageData->SetScalarTypeToUnsignedChar();
     this->ImageData->AllocateScalars();
 #else
-    this->ImageData->AllocateScalars(VTK_UNSIGNED_CHAR, std::min(3, image.channels()));
+    this->ImageData->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
 #endif
 
     switch(image.channels())
     {
-    case 1: copyGrayImage(image, this->ImageData);
-    case 3: copyRGBImage (image, this->ImageData);
-    case 4: copyRGBAImage(image, this->ImageData);
+    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)
-            *reinterpret_cast<unsigned char*>(output->GetScalarPointer(x,y,0)) = *srow++;
+            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())
-            *reinterpret_cast<Vec3b*>(output->GetScalarPointer(x,y,0)) = Vec3b(srow[2], srow[1], srow[0]);
+            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())
-            *reinterpret_cast<Vec4b*>(output->GetScalarPointer(x,y,0)) = Vec4b(srow[2], srow[1], srow[0], srow[3]);
+            drow[x] = Vec4b(srow[2], srow[1], srow[0], srow[3]);
     }
 }

modules/viz/test/tests_simple.cpp

@@ -198,7 +198,7 @@ TEST(Viz, DISABLED_show_trajectory_reposition)
     viz.spin();
 }
 
-TEST(Viz, show_camera_positions)
+TEST(Viz, DISABLED_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"));
@@ -216,7 +216,6 @@ TEST(Viz, show_camera_positions)
     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.spin();
@@ -229,9 +228,10 @@ TEST(Viz, show_overlay_image)
 
     Viz3d viz("show_overlay_image");
     viz.showWidget("coos", WCoordinateSystem());
-    viz.showWidget("cube", WCube(Vec3d::all(-0.5), Vec3d::all(0.5)));
-    viz.showWidget("img1", WImageOverlay(lena, Rect(Point(0, 400), Size_<double>(viz.getWindowSize()) * 0.5)));
-    viz.showWidget("img2", WImageOverlay(gray, Rect(Point(640, 0), Size_<double>(viz.getWindowSize()) * 0.5)));
+    viz.showWidget("cube", WCube());
+    viz.showWidget("img1", WImageOverlay(lena, Rect(Point(0, 400), Size2d(viz.getWindowSize()) * 0.5)));
+    viz.showWidget("img2", WImageOverlay(gray, Rect(Point(640, 0), Size2d(viz.getWindowSize()) * 0.5)));
+    viz.spin();
 
     int i = 0;
     while(!viz.wasStopped())
@@ -254,7 +254,7 @@ TEST(Viz, DISABLED_show_image_3d)
 
     Viz3d viz("show_image_3d");
     viz.showWidget("coos", WCoordinateSystem());
-    viz.showWidget("cube", WCube(Vec3d::all(-0.5), Vec3d::all(0.5)));
+    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()));