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static function for appending clouds in cloud collection widget

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This commit is contained in:
ozantonkal 2013-07-29 15:06:05 +02:00
parent 42266b04a5
commit b64e6ccc6c
1 changed files with 42 additions and 70 deletions
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112
modules/viz/src/cloud_widgets.cpp
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@ -271,6 +271,44 @@ struct cv::viz::CloudCollectionWidget::CreateCloudWidget
vertices->SetCells (nr_points, cells); vertices->SetCells (nr_points, cells);
return polydata; return polydata;
} }
static void createMapper(vtkSmartPointer<vtkLODActor> actor, vtkSmartPointer<vtkPolyData> poly_data, Vec3d& minmax)
{
vtkDataSetMapper *mapper = vtkDataSetMapper::SafeDownCast(actor->GetMapper());
if (!mapper)
{
// This is the first cloud
vtkSmartPointer<vtkDataSetMapper> mapper_new = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper_new->SetInputConnection (poly_data->GetProducerPort());
mapper_new->SetScalarRange(minmax.val);
mapper_new->SetScalarModeToUsePointData ();
bool interpolation = (poly_data && poly_data->GetNumberOfCells () != poly_data->GetNumberOfVerts ());
mapper_new->SetInterpolateScalarsBeforeMapping(interpolation);
mapper_new->ScalarVisibilityOn();
mapper_new->ImmediateModeRenderingOff();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType>(1, poly_data->GetNumberOfPoints () / 10)));
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper_new);
return ;
}
vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
CV_Assert(data);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
appendFilter->AddInputConnection(poly_data->GetProducerPort());
mapper->SetInputConnection(appendFilter->GetOutputPort());
// Update the number of cloud points
vtkIdType old_cloud_points = actor->GetNumberOfCloudPoints();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType>(1, old_cloud_points+poly_data->GetNumberOfPoints () / 10)));
}
}; };
cv::viz::CloudCollectionWidget::CloudCollectionWidget() cv::viz::CloudCollectionWidget::CloudCollectionWidget()
@ -321,41 +359,8 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, InputArray _col
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor); CV_Assert(actor);
vtkDataSetMapper *mapper = vtkDataSetMapper::SafeDownCast(actor->GetMapper()); Vec3d minmax(scalars->GetRange());
if (!mapper) CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
{
// This is the first cloud
vtkSmartPointer<vtkDataSetMapper> mapper_new = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper_new->SetInputConnection (transform_filter->GetOutputPort());
Vec3d minmax(scalars->GetRange());
mapper_new->SetScalarRange(minmax.val);
mapper_new->SetScalarModeToUsePointData ();
bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
mapper_new->SetInterpolateScalarsBeforeMapping(interpolation);
mapper_new->ScalarVisibilityOn();
mapper_new->ImmediateModeRenderingOff();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType>(1, polydata->GetNumberOfPoints () / 10)));
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper_new);
return ;
}
vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
CV_Assert(data);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
appendFilter->AddInputConnection(transform_filter->GetOutputPort());
mapper->SetInputConnection(appendFilter->GetOutputPort());
// Update the number of cloud points
vtkIdType old_cloud_points = actor->GetNumberOfCloudPoints();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType>(1, old_cloud_points+polydata->GetNumberOfPoints () / 10)));
} }
void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &color, const Affine3f &pose) void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &color, const Affine3f &pose)
@ -389,41 +394,8 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &co
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor); CV_Assert(actor);
vtkDataSetMapper *mapper = vtkDataSetMapper::SafeDownCast(actor->GetMapper()); Vec3d minmax(scalars->GetRange());
if (!mapper) CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
{
// This is the first cloud
vtkSmartPointer<vtkDataSetMapper> mapper_new = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper_new->SetInputConnection (transform_filter->GetOutputPort());
Vec3d minmax(scalars->GetRange());
mapper_new->SetScalarRange(minmax.val);
mapper_new->SetScalarModeToUsePointData ();
bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
mapper_new->SetInterpolateScalarsBeforeMapping(interpolation);
mapper_new->ScalarVisibilityOn();
mapper_new->ImmediateModeRenderingOff();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType>(1, polydata->GetNumberOfPoints () / 10)));
actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper_new);
return ;
}
vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
CV_Assert(data);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
appendFilter->AddInputConnection(transform_filter->GetOutputPort());
mapper->SetInputConnection(appendFilter->GetOutputPort());
// Update the number of cloud points
vtkIdType old_cloud_points = actor->GetNumberOfCloudPoints();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType>(1, old_cloud_points+polydata->GetNumberOfPoints () / 10)));
} }
template<> cv::viz::CloudCollectionWidget cv::viz::Widget::cast<cv::viz::CloudCollectionWidget>() template<> cv::viz::CloudCollectionWidget cv::viz::Widget::cast<cv::viz::CloudCollectionWidget>()