Viz initial backport, compilation fixes, moved viz/viz.hpp header according to 2.4 style

2014-01-19 03:16:06 +04:00
parent 088535fa56
commit 02ebc4368c
62 changed files with 10455 additions and 0 deletions
--- a/modules/viz/src/clouds.cpp
+++ b/modules/viz/src/clouds.cpp
@@ -0,0 +1,441 @@
+/*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:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Point Cloud Widget implementation
+
+cv::viz::WCloud::WCloud(InputArray cloud, InputArray colors)
+{
+    CV_Assert(!cloud.empty() && !colors.empty());
+
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetColorCloud(cloud, colors);
+    cloud_source->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, cloud_source->GetOutput());
+    mapper->SetScalarModeToUsePointData();
+    mapper->ImmediateModeRenderingOff();
+    mapper->SetScalarRange(0, 255);
+    mapper->ScalarVisibilityOn();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WCloud::WCloud(InputArray cloud, const Color &color)
+{
+    WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color));
+    *this = cloud_widget;
+}
+
+
+template<> cv::viz::WCloud cv::viz::Widget::cast<cv::viz::WCloud>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCloud&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Painted Cloud Widget implementation
+
+cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud)
+{
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetCloud(cloud);
+    cloud_source->Update();
+
+    Vec6d bounds(cloud_source->GetOutput()->GetPoints()->GetBounds());
+
+    vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
+    elevation->SetInputConnection(cloud_source->GetOutputPort());
+    elevation->SetLowPoint(bounds[0], bounds[2], bounds[4]);
+    elevation->SetHighPoint(bounds[1], bounds[3], bounds[5]);
+    elevation->SetScalarRange(0.0, 1.0);
+    elevation->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
+    mapper->ImmediateModeRenderingOff();
+    mapper->ScalarVisibilityOn();
+    mapper->SetColorModeToMapScalars();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2)
+{
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetCloud(cloud);
+
+    vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
+    elevation->SetInputConnection(cloud_source->GetOutputPort());
+    elevation->SetLowPoint(p1.x, p1.y, p1.z);
+    elevation->SetHighPoint(p2.x, p2.y, p2.z);
+    elevation->SetScalarRange(0.0, 1.0);
+    elevation->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
+    mapper->ImmediateModeRenderingOff();
+    mapper->ScalarVisibilityOn();
+    mapper->SetColorModeToMapScalars();
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WPaintedCloud::WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2)
+{
+    vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
+    cloud_source->SetCloud(cloud);
+
+    vtkSmartPointer<vtkElevationFilter> elevation = vtkSmartPointer<vtkElevationFilter>::New();
+    elevation->SetInputConnection(cloud_source->GetOutputPort());
+    elevation->SetLowPoint(p1.x, p1.y, p1.z);
+    elevation->SetHighPoint(p2.x, p2.y, p2.z);
+    elevation->SetScalarRange(0.0, 1.0);
+    elevation->Update();
+
+    Color vc1 = vtkcolor(c1), vc2 = vtkcolor(c2);
+    vtkSmartPointer<vtkColorTransferFunction> color_transfer = vtkSmartPointer<vtkColorTransferFunction>::New();
+    color_transfer->SetColorSpaceToRGB();
+    color_transfer->AddRGBPoint(0.0, vc1[0], vc1[1], vc1[2]);
+    color_transfer->AddRGBPoint(1.0, vc2[0], vc2[1], vc2[2]);
+    color_transfer->SetScaleToLinear();
+    color_transfer->Build();
+
+    //if in future some need to replace color table with real scalars, then this can be done usine next calls:
+    //vtkDataArray *float_scalars = vtkPolyData::SafeDownCast(elevation->GetOutput())->GetPointData()->GetArray("Elevation");
+    //vtkSmartPointer<vtkPolyData> polydata = cloud_source->GetOutput();
+    //polydata->GetPointData()->SetScalars(color_transfer->MapScalars(float_scalars, VTK_COLOR_MODE_DEFAULT, 0));
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, vtkPolyData::SafeDownCast(elevation->GetOutput()));
+    mapper->ImmediateModeRenderingOff();
+    mapper->ScalarVisibilityOn();
+    mapper->SetColorModeToMapScalars();
+    mapper->SetLookupTable(color_transfer);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->BackfaceCullingOn();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> cv::viz::WPaintedCloud cv::viz::Widget::cast<cv::viz::WPaintedCloud>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WPaintedCloud&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Cloud Collection Widget implementation
+
+cv::viz::WCloudCollection::WCloudCollection()
+{
+    // Just create the actor
+    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
+    WidgetAccessor::setProp(*this, actor);
+}
+
+void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, const Affine3d &pose)
+{
+    vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
+    source->SetColorCloud(cloud, colors);
+
+    vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(source->GetOutputPort(), pose);
+
+    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Incompatible widget type." && actor);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+    if (!mapper)
+    {
+        // This is the first cloud
+        mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+        mapper->SetScalarRange(0, 255);
+        mapper->SetScalarModeToUsePointData();
+        mapper->ScalarVisibilityOn();
+        mapper->ImmediateModeRenderingOff();
+        VtkUtils::SetInputData(mapper, polydata);
+
+        actor->SetNumberOfCloudPoints(std::max<vtkIdType>(1, polydata->GetNumberOfPoints()/10));
+        actor->GetProperty()->SetInterpolationToFlat();
+        actor->GetProperty()->BackfaceCullingOn();
+        actor->SetMapper(mapper);
+        return;
+    }
+
+    vtkPolyData *currdata = vtkPolyData::SafeDownCast(mapper->GetInput());
+    CV_Assert("Cloud Widget without data" && currdata);
+
+    vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
+    VtkUtils::AddInputData(append_filter, currdata);
+    VtkUtils::AddInputData(append_filter, polydata);
+    append_filter->Update();
+
+    VtkUtils::SetInputData(mapper, append_filter->GetOutput());
+
+    actor->SetNumberOfCloudPoints(std::max<vtkIdType>(1, actor->GetNumberOfCloudPoints() + polydata->GetNumberOfPoints()/10));
+}
+
+void cv::viz::WCloudCollection::addCloud(InputArray cloud, const Color &color, const Affine3d &pose)
+{
+    addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose);
+}
+
+template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCloudCollection&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Cloud Normals Widget implementation
+
+cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, double 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());
+
+    int sqlevel = (int)std::sqrt((double)level);
+    int ystep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : 1;
+    int xstep = (cloud.cols > 1 && cloud.rows > 1) ? sqlevel : level;
+
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    points->SetDataType(cloud.depth() == CV_32F ? VTK_FLOAT : VTK_DOUBLE);
+
+    vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+
+    int s_chs = cloud.channels();
+    int n_chs = normals.channels();
+    int total = 0;
+
+    for(int y = 0; y < cloud.rows; y += ystep)
+    {
+        if (cloud.depth() == CV_32F)
+        {
+            const float *srow = cloud.ptr<float>(y);
+            const float *send = srow + cloud.cols * s_chs;
+            const float *nrow = normals.ptr<float>(y);
+
+            for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
+                if (!isNan(srow) && !isNan(nrow))
+                {
+                    Vec3f endp = Vec3f(srow) + Vec3f(nrow) * (float)scale;
+
+                    points->InsertNextPoint(srow);
+                    points->InsertNextPoint(endp.val);
+
+                    lines->InsertNextCell(2);
+                    lines->InsertCellPoint(total++);
+                    lines->InsertCellPoint(total++);
+                }
+        }
+        else
+        {
+            const double *srow = cloud.ptr<double>(y);
+            const double *send = srow + cloud.cols * s_chs;
+            const double *nrow = normals.ptr<double>(y);
+
+            for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
+                if (!isNan(srow) && !isNan(nrow))
+                {
+                    Vec3d endp = Vec3d(srow) + Vec3d(nrow) * (double)scale;
+
+                    points->InsertNextPoint(srow);
+                    points->InsertNextPoint(endp.val);
+
+                    lines->InsertNextCell(2);
+                    lines->InsertCellPoint(total++);
+                    lines->InsertCellPoint(total++);
+                }
+        }
+    }
+
+    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+    polyData->SetPoints(points);
+    polyData->SetLines(lines);
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+    mapper->SetColorModeToMapScalars();
+    mapper->SetScalarModeToUsePointData();
+    VtkUtils::SetInputData(mapper, polyData);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+template<> cv::viz::WCloudNormals cv::viz::Widget::cast<cv::viz::WCloudNormals>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCloudNormals&>(widget);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// Mesh Widget implementation
+
+cv::viz::WMesh::WMesh(const Mesh &mesh)
+{
+    CV_Assert(mesh.cloud.rows == 1 && mesh.polygons.type() == CV_32SC1);
+
+    vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
+    source->SetColorCloudNormalsTCoords(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
+    source->Update();
+
+    Mat lookup_buffer(1, mesh.cloud.total(), CV_32SC1);
+    int *lookup = lookup_buffer.ptr<int>();
+    for(int y = 0, index = 0; y < mesh.cloud.rows; ++y)
+    {
+        int s_chs = mesh.cloud.channels();
+
+        if (mesh.cloud.depth() == CV_32F)
+        {
+            const float* srow = mesh.cloud.ptr<float>(y);
+            const float* send = srow + mesh.cloud.cols * s_chs;
+
+            for (; srow != send; srow += s_chs, ++lookup)
+                if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
+                    *lookup = index++;
+        }
+
+        if (mesh.cloud.depth() == CV_64F)
+        {
+            const double* srow = mesh.cloud.ptr<double>(y);
+            const double* send = srow + mesh.cloud.cols * s_chs;
+
+            for (; srow != send; srow += s_chs, ++lookup)
+                if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
+                    *lookup = index++;
+        }
+    }
+    lookup = lookup_buffer.ptr<int>();
+
+    vtkSmartPointer<vtkPolyData> polydata = source->GetOutput();
+    polydata->SetVerts(0);
+
+    const int * polygons = mesh.polygons.ptr<int>();
+    vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New();
+
+    int idx = 0;
+    size_t polygons_size = mesh.polygons.total();
+    for (size_t i = 0; i < polygons_size; ++idx)
+    {
+        int n_points = polygons[i++];
+
+        cell_array->InsertNextCell(n_points);
+        for (int j = 0; j < n_points; ++j, ++idx)
+            cell_array->InsertCellPoint(lookup[polygons[i++]]);
+    }
+    cell_array->GetData()->SetNumberOfValues(idx);
+    cell_array->Squeeze();
+    polydata->SetStrips(cell_array);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    mapper->SetScalarModeToUsePointData();
+    mapper->ImmediateModeRenderingOff();
+    VtkUtils::SetInputData(mapper, polydata);
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    //actor->SetNumberOfCloudPoints(std::max(1, polydata->GetNumberOfPoints() / 10));
+    actor->GetProperty()->SetRepresentationToSurface();
+    actor->GetProperty()->BackfaceCullingOff(); // Backface culling is off for higher efficiency
+    actor->GetProperty()->SetInterpolationToFlat();
+    actor->GetProperty()->EdgeVisibilityOff();
+    actor->GetProperty()->ShadingOff();
+    actor->SetMapper(mapper);
+
+    if (!mesh.texture.empty())
+    {
+        vtkSmartPointer<vtkImageMatSource> image_source = vtkSmartPointer<vtkImageMatSource>::New();
+        image_source->SetImage(mesh.texture);
+
+        vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
+        texture->SetInputConnection(image_source->GetOutputPort());
+        actor->SetTexture(texture);
+    }
+
+    WidgetAccessor::setProp(*this, actor);
+}
+
+cv::viz::WMesh::WMesh(InputArray cloud, InputArray polygons, InputArray colors, InputArray normals)
+{
+    Mesh mesh;
+    mesh.cloud = cloud.getMat();
+    mesh.colors = colors.getMat();
+    mesh.normals = normals.getMat();
+    mesh.polygons = polygons.getMat();
+    *this = WMesh(mesh);
+}
+
+template<> CV_EXPORTS cv::viz::WMesh cv::viz::Widget::cast<cv::viz::WMesh>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WMesh&>(widget);
+}