From c1b41caa7cec1bb42cfde238f0ba1ea7c178f1d2 Mon Sep 17 00:00:00 2001
From: Anatoly Baksheev <no@email>
Date: Tue, 31 Dec 2013 21:50:38 +0400
Subject: [PATCH] added vtkCloudMatSink, reworked cloud IO functions, added
normals support
---
modules/viz/include/opencv2/viz.hpp | 6 +-
modules/viz/src/precomp.hpp | 1 +
modules/viz/src/vizcore.cpp | 57 ++-------
modules/viz/src/vtk/vtkCloudMatSink.cpp | 137 ++++++++++++++++++++++
modules/viz/src/vtk/vtkCloudMatSink.h | 76 ++++++++++++
modules/viz/src/vtk/vtkCloudMatSource.cpp | 2 +-
modules/viz/test/test_viz3d.cpp | 7 +-
7 files changed, 233 insertions(+), 53 deletions(-)
create mode 100644 modules/viz/src/vtk/vtkCloudMatSink.cpp
create mode 100644 modules/viz/src/vtk/vtkCloudMatSink.h
diff --git a/modules/viz/include/opencv2/viz.hpp b/modules/viz/include/opencv2/viz.hpp
index 49b36a9b2..cb399a8eb 100644
--- a/modules/viz/include/opencv2/viz.hpp
+++ b/modules/viz/include/opencv2/viz.hpp
@@ -93,10 +93,10 @@ namespace cv
///////////////////////////////////////////////////////////////////////////////////////////////
- /// Read/write clouds. Supported formats: ply, stl, xyz, obj
+ /// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)
- CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray());
- CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = cv::noArray());
+ CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false);
+ CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray());
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write poses and trajectories
diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp
index 83b779dd8..b10e83ad5 100644
--- a/modules/viz/src/precomp.hpp
+++ b/modules/viz/src/precomp.hpp
@@ -132,6 +132,7 @@
#endif
#include <vtk/vtkCloudMatSource.h>
+#include <vtk/vtkCloudMatSink.h>
#include <vtk/vtkOBJWriter.h>
#include <vtk/vtkXYZWriter.h>
diff --git a/modules/viz/src/vizcore.cpp b/modules/viz/src/vizcore.cpp
index 5a1a7a8fe..29f6be288 100644
--- a/modules/viz/src/vizcore.cpp
+++ b/modules/viz/src/vizcore.cpp
@@ -164,38 +164,36 @@ void cv::viz::unregisterAllWindows() { VizStorage::unregisterAll(); }
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write clouds. Supported formats: ply, stl, xyz, obj
-void cv::viz::writeCloud(const String& file, InputArray _cloud, InputArray _colors)
+void cv::viz::writeCloud(const String& file, InputArray _cloud, InputArray _colors, InputArray _normals, bool binary)
{
CV_Assert(file.size() > 4 && "Extention is required");
String extention = file.substr(file.size()-4);
Mat cloud = _cloud.getMat();
Mat colors = _colors.getMat();
+ Mat normals = _normals.getMat();
vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
- source->SetColorCloud(cloud, colors);
+ source->SetColorCloudNormals(cloud, colors, normals);
vtkSmartPointer<vtkWriter> writer;
if (extention == ".xyz")
{
writer = vtkSmartPointer<vtkXYZWriter>::New();
- vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+ vtkXYZWriter::SafeDownCast(writer)->SetFileName(file.c_str());
}
else if (extention == ".ply")
{
writer = vtkSmartPointer<vtkPLYWriter>::New();
vtkPLYWriter::SafeDownCast(writer)->SetFileName(file.c_str());
+ vtkPLYWriter::SafeDownCast(writer)->SetFileType(binary ? VTK_BINARY : VTK_ASCII);
+ vtkPLYWriter::SafeDownCast(writer)->SetArrayName("Colors");
}
else if (extention == ".obj")
{
writer = vtkSmartPointer<vtkOBJWriter>::New();
vtkOBJWriter::SafeDownCast(writer)->SetFileName(file.c_str());
}
- else if (extention == ".stl")
- {
- writer = vtkSmartPointer<vtkSTLWriter>::New();
- vtkSTLWriter::SafeDownCast(writer)->SetFileName(file.c_str());
- }
else
CV_Assert(!"Unsupported format");
@@ -203,7 +201,7 @@ void cv::viz::writeCloud(const String& file, InputArray _cloud, InputArray _colo
writer->Write();
}
-cv::Mat cv::viz::readCloud(const String& file, OutputArray colors)
+cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray normals)
{
CV_Assert(file.size() > 4 && "Extention is required");
String extention = file.substr(file.size()-4);
@@ -233,43 +231,12 @@ cv::Mat cv::viz::readCloud(const String& file, OutputArray colors)
else
CV_Assert(!"Unsupported format");
- reader->Update();
- vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput();
- vtkSmartPointer<vtkPoints> points = poly_data->GetPoints();
+ cv::Mat cloud;
- int vtktype = points->GetDataType();
- CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE);
-
- Mat cloud(1, points->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3);
- Vec3d *ddata = cloud.ptr<Vec3d>();
- Vec3f *fdata = cloud.ptr<Vec3f>();
-
- if (cloud.depth() == CV_32F)
- for(size_t i = 0; i < cloud.total(); ++i)
- *fdata++ = Vec3d(points->GetPoint(i));
-
- if (cloud.depth() == CV_64F)
- for(size_t i = 0; i < cloud.total(); ++i)
- *ddata++ = Vec3d(points->GetPoint(i));
-
- vtkSmartPointer<vtkDataArray> scalars = poly_data->GetPointData() ? poly_data->GetPointData()->GetScalars() : 0;
-
- if (colors.needed() && scalars)
- {
- int channels = scalars->GetNumberOfComponents();
- int vtktype = scalars->GetDataType();
-
- CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented");
- CV_Assert(cloud.total() == (size_t)scalars->GetNumberOfTuples());
- Mat buffer(cloud.size(), CV_64FC(channels));
- Vec3d *cptr = buffer.ptr<Vec3d>();
- for(size_t i = 0; i < colors.total(); ++i)
- *cptr++ = Vec3d(scalars->GetTuple(i));
-
- buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ? 255.0 : 1.0);
- }
- else
- colors.release();
+ vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
+ sink->SetInputConnection(reader->GetOutputPort());
+ sink->SetOutput(cloud, colors, normals);
+ sink->Write();
return cloud;
}
diff --git a/modules/viz/src/vtk/vtkCloudMatSink.cpp b/modules/viz/src/vtk/vtkCloudMatSink.cpp
new file mode 100644
index 000000000..b96db385b
--- /dev/null
+++ b/modules/viz/src/vtk/vtkCloudMatSink.cpp
@@ -0,0 +1,137 @@
+/*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:
+// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+ vtkStandardNewMacro(vtkCloudMatSink);
+}}
+
+cv::viz::vtkCloudMatSink::vtkCloudMatSink() {}
+cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {}
+
+void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals)
+{
+ cloud = _cloud;
+ colors = _colors;
+ normals = _normals;
+}
+
+void cv::viz::vtkCloudMatSink::WriteData()
+{
+ vtkPolyData *input = this->GetInput();
+ if (!input)
+ return;
+
+ vtkSmartPointer<vtkPoints> points_Data = input->GetPoints();
+
+ if (cloud.needed() && points_Data)
+ {
+ int vtktype = points_Data->GetDataType();
+ CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE);
+
+ cloud.create(1, points_Data->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3);
+ Vec3d *ddata = (Vec3d*)cloud.getMat().ptr();
+ Vec3f *fdata = (Vec3f*)cloud.getMat().ptr();
+
+ if (cloud.depth() == CV_32F)
+ for(size_t i = 0; i < cloud.total(); ++i)
+ *fdata++ = Vec3d(points_Data->GetPoint(i));
+
+ if (cloud.depth() == CV_64F)
+ for(size_t i = 0; i < cloud.total(); ++i)
+ *ddata++ = Vec3d(points_Data->GetPoint(i));
+ }
+ else
+ cloud.release();
+
+ vtkSmartPointer<vtkDataArray> scalars_data = input->GetPointData() ? input->GetPointData()->GetScalars() : 0;
+
+ if (colors.needed() && scalars_data)
+ {
+ int channels = scalars_data->GetNumberOfComponents();
+ int vtktype = scalars_data->GetDataType();
+
+ CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented");
+ CV_Assert(cloud.total() == (size_t)scalars_data->GetNumberOfTuples());
+
+ Mat buffer(cloud.size(), CV_64FC(channels));
+ Vec3d *cptr = buffer.ptr<Vec3d>();
+ for(size_t i = 0; i < buffer.total(); ++i)
+ *cptr++ = Vec3d(scalars_data->GetTuple(i));
+
+ buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ? 255.0 : 1.0);
+ }
+ else
+ colors.release();
+
+ vtkSmartPointer<vtkDataArray> normals_data = input->GetPointData() ? input->GetPointData()->GetNormals() : 0;
+
+ if (normals.needed() && normals_data)
+ {
+ int channels = normals_data->GetNumberOfComponents();
+ int vtktype = normals_data->GetDataType();
+
+ CV_Assert((vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE) && (channels == 3 || channels == 4));
+ CV_Assert(cloud.total() == (size_t)normals_data->GetNumberOfTuples());
+
+ Mat buffer(cloud.size(), CV_64FC(channels));
+ Vec3d *cptr = buffer.ptr<Vec3d>();
+ for(size_t i = 0; i < buffer.total(); ++i)
+ *cptr++ = Vec3d(scalars_data->GetTuple(i));
+
+ buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
+ }
+ else
+ normals.release();
+}
+
+void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
+{
+ Superclass::PrintSelf(os, indent);
+ os << indent << "Cloud: " << cloud.needed() << "\n";
+ os << indent << "Colors: " << colors.needed() << "\n";
+ os << indent << "Normals: " << normals.needed() << "\n";
+}
diff --git a/modules/viz/src/vtk/vtkCloudMatSink.h b/modules/viz/src/vtk/vtkCloudMatSink.h
new file mode 100644
index 000000000..e4a55f078
--- /dev/null
+++ b/modules/viz/src/vtk/vtkCloudMatSink.h
@@ -0,0 +1,76 @@
+/*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:
+// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __vtkCloudMatSink_h
+#define __vtkCloudMatSink_h
+
+namespace cv
+{
+ namespace viz
+ {
+ class vtkCloudMatSink : public vtkPolyDataWriter
+ {
+ public:
+ static vtkCloudMatSink *New();
+ vtkTypeMacro(vtkCloudMatSink,vtkPolyDataWriter);
+ void PrintSelf(ostream& os, vtkIndent indent);
+
+ void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray());
+
+ protected:
+ vtkCloudMatSink();
+ ~vtkCloudMatSink();
+
+ void WriteData();
+
+ _OutputArray cloud, colors, normals;
+
+ private:
+ vtkCloudMatSink(const vtkCloudMatSink&); // Not implemented.
+ void operator=(const vtkCloudMatSink&); // Not implemented.
+ };
+ }
+}
+
+#endif
diff --git a/modules/viz/src/vtk/vtkCloudMatSource.cpp b/modules/viz/src/vtk/vtkCloudMatSource.cpp
index b603a39b7..476e0d5ed 100644
--- a/modules/viz/src/vtk/vtkCloudMatSource.cpp
+++ b/modules/viz/src/vtk/vtkCloudMatSource.cpp
@@ -199,7 +199,7 @@ void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& cloud_colors, co
}
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
- scalars->SetName("colors");
+ scalars->SetName("Colors");
scalars->SetNumberOfComponents(3);
scalars->SetNumberOfTuples(total);
scalars->SetArray(array->val, total * 3, 0);
diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp
index ee9102399..99476f675 100644
--- a/modules/viz/test/test_viz3d.cpp
+++ b/modules/viz/test/test_viz3d.cpp
@@ -49,6 +49,7 @@ TEST(Viz_viz3d, develop)
cv::Mat cloud = cv::viz::readCloud(String(cvtest::TS::ptr()->get_data_path()) + "dragon.ply");
+
// for(size_t i = 0; i < cloud.total(); ++i)
// {
// if (i % 15 == 0)
@@ -63,14 +64,12 @@ TEST(Viz_viz3d, develop)
cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
//viz.showWidget("h", cv::viz::Widget::fromPlyFile("d:/horse-red.ply"));
-
//viz.showWidget("a", cv::viz::WArrow(cv::Point3f(0,0,0), cv::Point3f(1,1,1)));
cv::RNG rng;
rng.fill(colors, cv::RNG::UNIFORM, 0, 255);
- cv::viz::WCloud c(cloud, colors);
- //cv::viz::WCloud c(cloud, cv::viz::Color::bluberry());
- viz.showWidget("c", c);
+ viz.showWidget("c", cv::viz::WCloud(cloud, colors));
+ //viz.showWidget("c", cv::viz::WCloud(cloud, cv::viz::Color::bluberry()));
//viz.showWidget("l", cv::viz::WLine(Point3f(0,0,0), Point3f(1,1,1)));
//viz.showWidget("s", cv::viz::WSphere(Point3f(0,0,0), 1));