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Open Source Computer Vision Library
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342 lines
12 KiB
342 lines
12 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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// Authors: |
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// * Ozan Tonkal, ozantonkal@gmail.com |
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com |
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// |
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//M*/ |
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#ifndef __OPENCV_VIZ_PRECOMP_HPP__ |
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#define __OPENCV_VIZ_PRECOMP_HPP__ |
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#include <map> |
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#include <ctime> |
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#include <list> |
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#include <vector> |
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#include <iomanip> |
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#include <limits> |
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#include <vtkAppendPolyData.h> |
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#include <vtkAssemblyPath.h> |
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#include <vtkCellData.h> |
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#include <vtkLineSource.h> |
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#include <vtkPropPicker.h> |
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#include <vtkSmartPointer.h> |
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#include <vtkDataSet.h> |
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#include <vtkPolygon.h> |
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#include <vtkUnstructuredGrid.h> |
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#include <vtkDiskSource.h> |
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#include <vtkPlaneSource.h> |
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#include <vtkSphereSource.h> |
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#include <vtkArrowSource.h> |
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#include <vtkOutlineSource.h> |
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#include <vtkTransform.h> |
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#include <vtkTransformPolyDataFilter.h> |
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#include <vtkTubeFilter.h> |
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#include <vtkCubeSource.h> |
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#include <vtkAxes.h> |
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#include <vtkFloatArray.h> |
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#include <vtkDoubleArray.h> |
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#include <vtkPointData.h> |
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#include <vtkPolyData.h> |
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#include <vtkPolyDataMapper.h> |
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#include <vtkDataSetMapper.h> |
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#include <vtkCellArray.h> |
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#include <vtkCommand.h> |
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#include <vtkPLYReader.h> |
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#include <vtkPolyLine.h> |
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#include <vtkVectorText.h> |
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#include <vtkFollower.h> |
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#include <vtkInteractorStyle.h> |
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#include <vtkUnsignedCharArray.h> |
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#include <vtkRendererCollection.h> |
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#include <vtkPNGWriter.h> |
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#include <vtkWindowToImageFilter.h> |
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#include <vtkInteractorStyleTrackballCamera.h> |
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#include <vtkProperty.h> |
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#include <vtkCamera.h> |
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#include <vtkPlanes.h> |
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#include <vtkImageFlip.h> |
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#include <vtkRenderWindow.h> |
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#include <vtkTextProperty.h> |
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#include <vtkProperty2D.h> |
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#include <vtkLODActor.h> |
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#include <vtkActor.h> |
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#include <vtkTextActor.h> |
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#include <vtkRenderWindowInteractor.h> |
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#include <vtkMath.h> |
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#include <vtkExtractEdges.h> |
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#include <vtkFrustumSource.h> |
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#include <vtkTextureMapToPlane.h> |
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#include <vtkPolyDataNormals.h> |
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#include <vtkAlgorithmOutput.h> |
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#include <vtkImageMapper.h> |
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#include <vtkPoints.h> |
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#include <vtkInformation.h> |
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#include <vtkInformationVector.h> |
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#include <vtkObjectFactory.h> |
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#include <vtkPolyDataAlgorithm.h> |
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#include <vtkMergeFilter.h> |
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#include <vtkErrorCode.h> |
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#include <vtkPLYWriter.h> |
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#include <vtkSTLWriter.h> |
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#include <vtkPLYReader.h> |
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#include <vtkOBJReader.h> |
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#include <vtkSTLReader.h> |
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#include <vtkPNGReader.h> |
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#include <vtkOBJExporter.h> |
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#include <vtkVRMLExporter.h> |
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#include <vtkTensorGlyph.h> |
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#include <vtkImageAlgorithm.h> |
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#include <vtkTransformFilter.h> |
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#include <vtkConeSource.h> |
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#include <vtkElevationFilter.h> |
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#include <vtkColorTransferFunction.h> |
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#include <vtkStreamingDemandDrivenPipeline.h> |
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#include <vtkLight.h> |
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#include "vtkCallbackCommand.h" |
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#if !defined(_WIN32) || defined(__CYGWIN__) |
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# include <unistd.h> /* unlink */ |
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#else |
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# include <io.h> /* unlink */ |
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#endif |
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#include <vtk/vtkOBJWriter.h> |
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#include <vtk/vtkXYZWriter.h> |
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#include <vtk/vtkXYZReader.h> |
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#include <vtk/vtkCloudMatSink.h> |
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#include <vtk/vtkCloudMatSource.h> |
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#include <vtk/vtkTrajectorySource.h> |
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#include <vtk/vtkImageMatSource.h> |
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#include <opencv2/core.hpp> |
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#include <opencv2/viz.hpp> |
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#include <opencv2/viz/widget_accessor.hpp> |
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#include <opencv2/core/utility.hpp> |
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namespace cv |
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{ |
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namespace viz |
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{ |
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typedef std::map<String, vtkSmartPointer<vtkProp> > WidgetActorMap; |
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struct VizMap |
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{ |
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typedef std::map<String, Viz3d> type; |
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typedef type::iterator iterator; |
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type m; |
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~VizMap(); |
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void replace_clear(); |
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}; |
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class VizStorage |
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{ |
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public: |
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static void unregisterAll(); |
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//! window names automatically have Viz - prefix even though not provided by the users |
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static String generateWindowName(const String &window_name); |
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private: |
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VizStorage(); // Static |
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static void add(const Viz3d& window); |
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static Viz3d& get(const String &window_name); |
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static void remove(const String &window_name); |
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static bool windowExists(const String &window_name); |
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static void removeUnreferenced(); |
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static VizMap storage; |
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friend class Viz3d; |
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static VizStorage init; |
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}; |
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template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/norm(v); } |
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template<typename _Tp> inline bool isNan(const _Tp* data) |
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{ |
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return isNan(data[0]) || isNan(data[1]) || isNan(data[2]); |
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} |
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inline vtkSmartPointer<vtkActor> getActor(const Widget3D& widget) |
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{ |
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return vtkActor::SafeDownCast(WidgetAccessor::getProp(widget)); |
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} |
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inline vtkSmartPointer<vtkPolyData> getPolyData(const Widget3D& widget) |
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{ |
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vtkSmartPointer<vtkMapper> mapper = getActor(widget)->GetMapper(); |
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return vtkPolyData::SafeDownCast(mapper->GetInput()); |
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} |
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inline vtkSmartPointer<vtkMatrix4x4> vtkmatrix(const cv::Matx44d &matrix) |
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{ |
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vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New(); |
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vtk_matrix->DeepCopy(matrix.val); |
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return vtk_matrix; |
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} |
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inline Color vtkcolor(const Color& color) |
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{ |
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Color scaled_color = color * (1.0/255.0); |
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std::swap(scaled_color[0], scaled_color[2]); |
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return scaled_color; |
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} |
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inline Vec3d get_random_vec(double from = -10.0, double to = 10.0) |
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{ |
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RNG& rng = theRNG(); |
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return Vec3d(rng.uniform(from, to), rng.uniform(from, to), rng.uniform(from, to)); |
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} |
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struct VtkUtils |
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{ |
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template<class Filter> |
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static void SetInputData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata) |
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{ |
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#if VTK_MAJOR_VERSION <= 5 |
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filter->SetInput(polydata); |
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#else |
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filter->SetInputData(polydata); |
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#endif |
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} |
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template<class Filter> |
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static void SetSourceData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata) |
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{ |
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#if VTK_MAJOR_VERSION <= 5 |
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filter->SetSource(polydata); |
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#else |
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filter->SetSourceData(polydata); |
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#endif |
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} |
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template<class Filter> |
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static void SetInputData(vtkSmartPointer<Filter> filter, vtkImageData* polydata) |
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{ |
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#if VTK_MAJOR_VERSION <= 5 |
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filter->SetInput(polydata); |
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#else |
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filter->SetInputData(polydata); |
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#endif |
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} |
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template<class Filter> |
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static void AddInputData(vtkSmartPointer<Filter> filter, vtkPolyData *polydata) |
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{ |
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#if VTK_MAJOR_VERSION <= 5 |
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filter->AddInput(polydata); |
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#else |
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filter->AddInputData(polydata); |
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#endif |
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} |
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static vtkSmartPointer<vtkUnsignedCharArray> FillScalars(size_t size, const Color& color) |
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{ |
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Vec3b rgb = Vec3d(color[2], color[1], color[0]); |
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Vec3b* color_data = new Vec3b[size]; |
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std::fill(color_data, color_data + size, rgb); |
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vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New(); |
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scalars->SetName("Colors"); |
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scalars->SetNumberOfComponents(3); |
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scalars->SetNumberOfTuples((vtkIdType)size); |
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scalars->SetArray(color_data->val, (vtkIdType)(size * 3), 0); |
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return scalars; |
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} |
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static vtkSmartPointer<vtkPolyData> FillScalars(vtkSmartPointer<vtkPolyData> polydata, const Color& color) |
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{ |
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return polydata->GetPointData()->SetScalars(FillScalars(polydata->GetNumberOfPoints(), color)), polydata; |
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} |
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static vtkSmartPointer<vtkPolyData> ComputeNormals(vtkSmartPointer<vtkPolyData> polydata) |
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{ |
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vtkSmartPointer<vtkPolyDataNormals> normals_generator = vtkSmartPointer<vtkPolyDataNormals>::New(); |
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normals_generator->ComputePointNormalsOn(); |
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normals_generator->ComputeCellNormalsOff(); |
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normals_generator->SetFeatureAngle(0.1); |
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normals_generator->SetSplitting(0); |
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normals_generator->SetConsistency(1); |
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normals_generator->SetAutoOrientNormals(0); |
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normals_generator->SetFlipNormals(0); |
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normals_generator->SetNonManifoldTraversal(1); |
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VtkUtils::SetInputData(normals_generator, polydata); |
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normals_generator->Update(); |
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return normals_generator->GetOutput(); |
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} |
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static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkAlgorithmOutput> algorithm_output_port, const Affine3d& pose) |
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{ |
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vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New(); |
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transform->SetMatrix(vtkmatrix(pose.matrix)); |
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vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New(); |
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transform_filter->SetTransform(transform); |
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transform_filter->SetInputConnection(algorithm_output_port); |
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transform_filter->Update(); |
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return transform_filter->GetOutput(); |
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} |
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static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkPolyData> polydata, const Affine3d& pose) |
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{ |
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vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New(); |
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transform->SetMatrix(vtkmatrix(pose.matrix)); |
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vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New(); |
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VtkUtils::SetInputData(transform_filter, polydata); |
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transform_filter->SetTransform(transform); |
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transform_filter->Update(); |
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return transform_filter->GetOutput(); |
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} |
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}; |
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vtkSmartPointer<vtkRenderWindowInteractor> vtkCocoaRenderWindowInteractorNew(); |
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} |
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} |
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#include "vtk/vtkVizInteractorStyle.hpp" |
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#include "vizimpl.hpp" |
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#endif
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