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Added WidgetMerger, Polyline - colors support for each point independently, simple widgets now compute color array instead of setting global color

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This commit is contained in:
Anatoly Baksheev
2014-02-15 17:02:17 +04:00
parent 261546f6f6
commit 1a5dfe421d
6 changed files with 222 additions and 85 deletions
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114
modules/viz/src/clouds.cpp
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@@ -193,8 +193,21 @@ template<> cv::viz::WPaintedCloud cv::viz::Widget::cast<cv::viz::WPaintedCloud>(
cv::viz::WCloudCollection::WCloudCollection()
{
// Just create the actor
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(append_filter->GetOutputPort());
mapper->SetScalarModeToUsePointData();
mapper->ImmediateModeRenderingOff();
mapper->SetScalarRange(0, 255);
mapper->ScalarVisibilityOn();
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetNumberOfCloudPoints(1);
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
@@ -206,33 +219,11 @@ void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, co
vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(source->GetOutputPort(), pose);
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Incompatible widget type." && actor);
CV_Assert("Correctness check." && actor);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
if (!mapper)
{
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
VtkUtils::AddInputData(append_filter, polydata);
// This is the first cloud
mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetScalarRange(0, 255);
mapper->SetScalarModeToUsePointData();
mapper->ScalarVisibilityOn();
mapper->ImmediateModeRenderingOff();
mapper->SetInputConnection(append_filter->GetOutputPort());
actor->SetNumberOfCloudPoints(std::max<vtkIdType>(1, polydata->GetNumberOfPoints()/10));
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper);
return;
}
vtkSmartPointer<vtkAlgorithm> producer = mapper->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAlgorithm> producer = actor->GetMapper()->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
VtkUtils::AddInputData(append_filter, polydata);
append_filter->Modified();
actor->SetNumberOfCloudPoints(std::max<vtkIdType>(1, actor->GetNumberOfCloudPoints() + polydata->GetNumberOfPoints()/10));
}
@@ -257,7 +248,6 @@ void cv::viz::WCloudCollection::finalize()
vtkSmartPointer<vtkPolyData> polydata = append_filter->GetOutput();
mapper->RemoveInputConnection(0, 0);
VtkUtils::SetInputData(mapper, polydata);
mapper->Modified();
}
template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>()
@@ -332,20 +322,18 @@ cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, in
}
}
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
polyData->SetPoints(points);
polyData->SetLines(lines);
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
polydata->SetPoints(points);
polydata->SetLines(lines);
VtkUtils::FillScalars(polydata, color);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
mapper->SetColorModeToMapScalars();
mapper->SetScalarModeToUsePointData();
VtkUtils::SetInputData(mapper, polyData);
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>()
@@ -455,3 +443,63 @@ template<> CV_EXPORTS cv::viz::WMesh cv::viz::Widget::cast<cv::viz::WMesh>()
Widget3D widget = this->cast<Widget3D>();
return static_cast<WMesh&>(widget);
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// Widget Merger implementation
cv::viz::WWidgetMerger::WWidgetMerger()
{
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(append_filter->GetOutputPort());
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);
}
void cv::viz::WWidgetMerger::addWidget(const Widget3D& widget, const Affine3d &pose)
{
vtkActor *widget_actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(widget));
CV_Assert("Widget is not 3D actor." && widget_actor);
vtkSmartPointer<vtkPolyDataMapper> widget_mapper = vtkPolyDataMapper::SafeDownCast(widget_actor->GetMapper());
CV_Assert("Widget doesn't have a polydata mapper" && widget_mapper);
widget_mapper->Update();
vtkSmartPointer<vtkActor> actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
vtkSmartPointer<vtkAlgorithm> producer = actor->GetMapper()->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
CV_Assert("Correctness check" && append_filter);
VtkUtils::AddInputData(append_filter, VtkUtils::TransformPolydata(widget_mapper->GetInput(), pose));
}
void cv::viz::WWidgetMerger::finalize()
{
vtkSmartPointer<vtkActor> actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
vtkSmartPointer<vtkAlgorithm> producer = actor->GetMapper()->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
CV_Assert("Correctness check" && append_filter);
append_filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
mapper->RemoveInputConnection(0, 0);
VtkUtils::SetInputData(mapper, append_filter->GetOutput());
mapper->Modified();
}
template<> CV_EXPORTS cv::viz::WWidgetMerger cv::viz::Widget::cast<cv::viz::WWidgetMerger>()
{
Widget3D widget = this->cast<Widget3D>();
return static_cast<WWidgetMerger&>(widget);
}