cloud normals widget implementation

diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index eb3b4b7..dd70849 100644 (file)
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -104,4 +104,12 @@ namespace temp_viz
         CloudWidget(InputArray _cloud, InputArray _colors);
         CloudWidget(InputArray _cloud, const Color &color = Color::white());
     };
+    
+    class CV_EXPORTS CloudNormalsWidget : public Widget
+    {
+    public:
+        CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f);
+    private:
+        struct ApplyCloudNormals;
+    };
 }

diff --git a/modules/viz/src/simple_widgets.cpp b/modules/viz/src/simple_widgets.cpp
index ae3536f..7005436 100644 (file)
--- a/modules/viz/src/simple_widgets.cpp
+++ b/modules/viz/src/simple_widgets.cpp
@@ -524,12 +524,143 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
     bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
 
     mapper->SetInterpolateScalarsBeforeMapping (interpolation);
-    mapper->ScalarVisibilityOn ();
+    mapper->ScalarVisibilityOff ();
         
     mapper->ImmediateModeRenderingOff ();
     
     actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
     actor->GetProperty ()->SetInterpolationToFlat ();
     actor->GetProperty ()->BackfaceCullingOn ();
+    actor->GetProperty ()->SetColor(c.val);
     actor->SetMapper (mapper);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// cloud normals widget implementation
+
+struct temp_viz::CloudNormalsWidget::ApplyCloudNormals
+{
+    template<typename _Tp>
+    struct Impl 
+    {
+        static vtkSmartPointer<vtkCellArray> applyOrganized(const cv::Mat &cloud, const cv::Mat& normals, 
+                                                            int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
+        {
+            vtkIdType point_step = static_cast<vtkIdType> (sqrt (double (level)));
+            nr_normals = (static_cast<vtkIdType> ((cloud.cols - 1)/ point_step) + 1) *
+                    (static_cast<vtkIdType> ((cloud.rows - 1) / point_step) + 1);
+            vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+            
+            pts = new _Tp[2 * nr_normals * 3];
+
+            int cch = cloud.channels();
+            vtkIdType cell_count = 0;    
+            for (vtkIdType y = 0; y < cloud.rows; y += point_step)
+            {
+                const _Tp *prow = cloud.ptr<_Tp>(y);
+                const _Tp *nrow = normals.ptr<_Tp>(y);
+                for (vtkIdType x = 0; x < cloud.cols; x += point_step + cch)
+                {
+                    pts[2 * cell_count * 3 + 0] = prow[x];
+                    pts[2 * cell_count * 3 + 1] = prow[x+1];
+                    pts[2 * cell_count * 3 + 2] = prow[x+2];
+                    pts[2 * cell_count * 3 + 3] = prow[x] + nrow[x] * scale;
+                    pts[2 * cell_count * 3 + 4] = prow[x+1] + nrow[x+1] * scale;
+                    pts[2 * cell_count * 3 + 5] = prow[x+2] + nrow[x+2] * scale;
+
+                    lines->InsertNextCell (2);
+                    lines->InsertCellPoint (2 * cell_count);
+                    lines->InsertCellPoint (2 * cell_count + 1);
+                    cell_count++;
+                }
+            }
+            return lines;
+        }
+        
+        static vtkSmartPointer<vtkCellArray> applyUnorganized(const cv::Mat &cloud, const cv::Mat& normals, 
+                                                              int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
+        {
+            vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+            nr_normals = (cloud.size().area() - 1) / level + 1 ;
+            pts = new _Tp[2 * nr_normals * 3];
+
+            int cch = cloud.channels();
+            const _Tp *p = cloud.ptr<_Tp>();
+            const _Tp *n = normals.ptr<_Tp>();
+            for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level * cch)
+            {
+                
+                pts[2 * j * 3 + 0] = p[i];
+                pts[2 * j * 3 + 1] = p[i+1];
+                pts[2 * j * 3 + 2] = p[i+2];
+                pts[2 * j * 3 + 3] = p[i] + n[i] * scale;
+                pts[2 * j * 3 + 4] = p[i+1] + n[i+1] * scale;
+                pts[2 * j * 3 + 5] = p[i+2] + n[i+2] * scale;
+
+                lines->InsertNextCell (2);
+                lines->InsertCellPoint (2 * j);
+                lines->InsertCellPoint (2 * j + 1);
+            }
+            return lines;
+        }
+    };
+    
+    template<typename _Tp>
+    static inline vtkSmartPointer<vtkCellArray> apply(const cv::Mat &cloud, const cv::Mat& normals, 
+                                                               int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
+    {
+        if (cloud.cols > 1 && cloud.rows > 1)
+            return ApplyCloudNormals::Impl<_Tp>::applyOrganized(cloud, normals, level, scale, pts, nr_normals);
+        else
+            return ApplyCloudNormals::Impl<_Tp>::applyUnorganized(cloud, normals, level, scale, pts, nr_normals);
+    }
+};
+
+temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale)
+{
+    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());
+    
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+    vtkIdType nr_normals = 0;
+    
+    if (cloud.depth() == CV_32F)
+    {
+        points->SetDataTypeToFloat();
+    
+        vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
+        data->SetNumberOfComponents (3);
+        
+        float* pts = 0;
+        lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals);
+        data->SetArray (&pts[0], 2 * nr_normals * 3, 0);
+        points->SetData (data);
+    }
+    else
+    {
+        points->SetDataTypeToDouble();
+    
+        vtkSmartPointer<vtkDoubleArray> data = vtkSmartPointer<vtkDoubleArray>::New ();
+        data->SetNumberOfComponents (3);
+        
+        double* pts = 0;
+        lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals);
+        data->SetArray (&pts[0], 2 * nr_normals * 3, 0);
+        points->SetData (data);
+    }
+
+    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+    polyData->SetPoints (points);
+    polyData->SetLines (lines);
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput (polyData);
+    mapper->SetColorModeToMapScalars();
+    mapper->SetScalarModeToUsePointData();
+    
+    vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    actor->SetMapper(mapper);
 }
\ No newline at end of file

diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp
index 2cbb090..ad4ceb8 100644 (file)
--- a/modules/viz/test/test_viz3d.cpp
+++ b/modules/viz/test/test_viz3d.cpp
@@ -52,16 +52,18 @@
 
 cv::Mat cvcloud_load()
 {
-    cv::Mat cloud(1, 20000, CV_32FC3);
+    cv::Mat cloud(1, 20000, CV_64FC4);
         std::ifstream ifs("cloud_dragon.ply");
 
     std::string str;
     for(size_t i = 0; i < 11; ++i)
         std::getline(ifs, str);
 
-    cv::Point3f* data = cloud.ptr<cv::Point3f>();
-    for(size_t i = 0; i < 20000; ++i)
-        ifs >> data[i].x >> data[i].y >> data[i].z;
+    cv::Vec4d* data = cloud.ptr<cv::Vec4d>();
+    for(size_t i = 0; i < 20000; ++i){
+        ifs >> data[i][0] >> data[i][1] >> data[i][2];
+        data[i][3] = 1.0;
+    }
 
     return cloud;
 }
@@ -100,7 +102,7 @@ TEST(Viz_viz3d, accuracy)
     temp_viz::CoordinateSystemWidget csw(1.0f, cv::Affine3f::Identity());
     temp_viz::TextWidget tw("TEST", cv::Point2i(100,100), 20);
     temp_viz::CloudWidget pcw(cloud, colors);
-    temp_viz::CloudWidget pcw2(cloud, temp_viz::Color(255,255,255));
+    temp_viz::CloudWidget pcw2(cloud, temp_viz::Color(0,255,255));
     
 //     v.showWidget("line", lw);
 //     v.showWidget("plane", pw);
@@ -111,12 +113,18 @@ TEST(Viz_viz3d, accuracy)
 //     v.showWidget("cube", cuw);
     v.showWidget("coordinateSystem", csw);
 //     v.showWidget("text",tw);
-    v.showWidget("pcw",pcw);
+//     v.showWidget("pcw",pcw);
     v.showWidget("pcw2",pcw2);
     
     temp_viz::LineWidget lw2 = lw;
 //     v.showPointCloud("cld",cloud, colors);
     
+    cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
+
+//     v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
+    temp_viz::CloudNormalsWidget cnw(cloud, normals);
+    v.showWidget("n", cnw);
+    
     while(!v.wasStopped())
     {
         // Creating new point cloud with id cloud1
@@ -134,9 +142,10 @@ TEST(Viz_viz3d, accuracy)
         cw.setPose(cloudPosition);
         cyw.setPose(cloudPosition);
         lw.setPose(cloudPosition);
-        cuw.setPose(cloudPosition);        
-        v.showWidget("pcw",pcw, cloudPosition);
-        v.showWidget("pcw2",pcw2, cloudPosition2);
+        cuw.setPose(cloudPosition);
+//         cnw.setPose(cloudPosition);
+//         v.showWidget("pcw",pcw, cloudPosition);
+//         v.showWidget("pcw2",pcw2, cloudPosition2);
 //         v.showWidget("plane", pw, cloudPosition);
         
         angle_x += 0.1f;
@@ -152,9 +161,7 @@ TEST(Viz_viz3d, accuracy)
         v.spinOnce(1, true);
     }
    
-//     cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
-// 
-//     v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
+
 // 
 // 
 //     temp_viz::ModelCoefficients mc;