vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
return actor->GetInput();
- }
+ }
-
-///////////////////////////////////////////////////////////////////////////////////////////////
-/// point cloud widget implementation
-
-struct temp_viz::CloudWidget::CreateCloudWidget
-{
- static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points)
- {
- vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New ();
- vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New ();
-
- polydata->SetVerts (vertices);
-
- vtkSmartPointer<vtkPoints> points = polydata->GetPoints();
- vtkSmartPointer<vtkIdTypeArray> initcells;
- nr_points = cloud.total();
-
- if (!points)
- {
- points = vtkSmartPointer<vtkPoints>::New ();
- if (cloud.depth() == CV_32F)
- points->SetDataTypeToFloat();
- else if (cloud.depth() == CV_64F)
- points->SetDataTypeToDouble();
- polydata->SetPoints (points);
- }
- points->SetNumberOfPoints (nr_points);
-
- if (cloud.depth() == CV_32F)
- {
- // Get a pointer to the beginning of the data array
- Vec3f *data_beg = vtkpoints_data<float>(points);
- Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
- nr_points = data_end - data_beg;
- }
- else if (cloud.depth() == CV_64F)
- {
- // Get a pointer to the beginning of the data array
- Vec3d *data_beg = vtkpoints_data<double>(points);
- Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
- nr_points = data_end - data_beg;
- }
- points->SetNumberOfPoints (nr_points);
-
- // Update cells
- vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
- // If no init cells and cells has not been initialized...
- if (!cells)
- cells = vtkSmartPointer<vtkIdTypeArray>::New ();
-
- // If we have less values then we need to recreate the array
- if (cells->GetNumberOfTuples () < nr_points)
- {
- cells = vtkSmartPointer<vtkIdTypeArray>::New ();
-
- // If init cells is given, and there's enough data in it, use it
- if (initcells && initcells->GetNumberOfTuples () >= nr_points)
- {
- cells->DeepCopy (initcells);
- cells->SetNumberOfComponents (2);
- cells->SetNumberOfTuples (nr_points);
- }
- else
- {
- // If the number of tuples is still too small, we need to recreate the array
- cells->SetNumberOfComponents (2);
- cells->SetNumberOfTuples (nr_points);
- vtkIdType *cell = cells->GetPointer (0);
- // Fill it with 1s
- std::fill_n (cell, nr_points * 2, 1);
- cell++;
- for (vtkIdType i = 0; i < nr_points; ++i, cell += 2)
- *cell = i;
- // Save the results in initcells
- initcells = vtkSmartPointer<vtkIdTypeArray>::New ();
- initcells->DeepCopy (cells);
- }
- }
- else
- {
- // The assumption here is that the current set of cells has more data than needed
- cells->SetNumberOfComponents (2);
- cells->SetNumberOfTuples (nr_points);
- }
-
- // Set the cells and the vertices
- vertices->SetCells (nr_points, cells);
- return polydata;
- }
-};
-
-temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
-{
- Mat cloud = _cloud.getMat();
- Mat colors = _colors.getMat();
- CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
- CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
-
- vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
- vtkIdType nr_points;
- vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
-
- // Filter colors
- Vec3b* colors_data = new Vec3b[nr_points];
- NanFilter::copy(colors, colors_data, cloud);
-
- vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
- scalars->SetNumberOfComponents (3);
- scalars->SetNumberOfTuples (nr_points);
- scalars->SetArray (colors_data->val, 3 * nr_points, 0);
-
- // Assign the colors
- polydata->GetPointData ()->SetScalars (scalars);
-
- vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
- mapper->SetInput (polydata);
-
- cv::Vec3d minmax(scalars->GetRange());
- mapper->SetScalarRange(minmax.val);
- mapper->SetScalarModeToUsePointData ();
-
- bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
-
- mapper->SetInterpolateScalarsBeforeMapping (interpolation);
- mapper->ScalarVisibilityOn ();
-
- mapper->ImmediateModeRenderingOff ();
-
- actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
- actor->GetProperty ()->SetInterpolationToFlat ();
- actor->GetProperty ()->BackfaceCullingOn ();
- actor->SetMapper (mapper);
-
- WidgetAccessor::setProp(*this, actor);
-}
-
-temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
-{
- Mat cloud = _cloud.getMat();
- CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
-
- vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
- vtkIdType nr_points;
- vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
-
- vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
- mapper->SetInput (polydata);
-
- bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
-
- mapper->SetInterpolateScalarsBeforeMapping (interpolation);
- mapper->ScalarVisibilityOff ();
-
- mapper->ImmediateModeRenderingOff ();
-
- actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
- actor->GetProperty ()->SetInterpolationToFlat ();
- actor->GetProperty ()->BackfaceCullingOn ();
- actor->SetMapper (mapper);
-
- WidgetAccessor::setProp(*this, actor);
- setColor(color);
-}
-
-template<> temp_viz::CloudWidget temp_viz::Widget::cast<temp_viz::CloudWidget>()
-{
- Widget3D widget = this->cast<Widget3D>();
- return static_cast<CloudWidget&>(widget);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////
-/// 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, 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());
-
- 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();
-
- vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
- actor->SetMapper(mapper);
- WidgetAccessor::setProp(*this, actor);
- setColor(color);
-}
-
-template<> temp_viz::CloudNormalsWidget temp_viz::Widget::cast<temp_viz::CloudNormalsWidget>()
-{
- Widget3D widget = this->cast<Widget3D>();
- return static_cast<CloudNormalsWidget&>(widget);
-}
projects / profile / ivi / opencv.git / commitdiff