From e472d45d999bf3bcab5b5c7afe051d5854ef0d56 Mon Sep 17 00:00:00 2001
From: Anatoly Baksheev <no@email>
Date: Mon, 13 Jan 2014 13:30:34 +0400
Subject: [PATCH] updated mesh reading (texture support)
---
modules/viz/include/opencv2/viz.hpp | 5 +-
modules/viz/src/precomp.hpp | 1 +
modules/viz/src/types.cpp | 120 ++++++++++--------------
modules/viz/src/vtk/vtkCloudMatSink.cpp | 25 ++++-
modules/viz/src/vtk/vtkCloudMatSink.h | 4 +-
5 files changed, 77 insertions(+), 78 deletions(-)
diff --git a/modules/viz/include/opencv2/viz.hpp b/modules/viz/include/opencv2/viz.hpp
index 89810d547..a532ba783 100644
--- a/modules/viz/include/opencv2/viz.hpp
+++ b/modules/viz/include/opencv2/viz.hpp
@@ -99,9 +99,10 @@ namespace cv
CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray());
///////////////////////////////////////////////////////////////////////////////////////////////
- /// Read mesh. Only ply format is supported now
+ /// Reads mesh. Only ply format is supported now. The function tries to read texture from png-file,
+ /// and in case of faulure, just leaves the texture field empty.
- CV_EXPORTS Mesh readMesh (const String& file);
+ CV_EXPORTS Mesh readMesh(const String& file);
///////////////////////////////////////////////////////////////////////////////////////////////
/// Read/write poses and trajectories
diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp
index d5f969a49..bf154e76e 100644
--- a/modules/viz/src/precomp.hpp
+++ b/modules/viz/src/precomp.hpp
@@ -122,6 +122,7 @@
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkSTLReader.h>
+#include <vtkPNGReader.h>
#include <vtkOBJExporter.h>
#include <vtkVRMLExporter.h>
#include <vtkTensorGlyph.h>
diff --git a/modules/viz/src/types.cpp b/modules/viz/src/types.cpp
index 09a2f4d0f..bf61432cb 100644
--- a/modules/viz/src/types.cpp
+++ b/modules/viz/src/types.cpp
@@ -57,80 +57,56 @@ cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, c
////////////////////////////////////////////////////////////////////
/// cv::viz::Mesh3d
-namespace cv { namespace viz { namespace
-{
- struct MeshUtils
- {
- static Mesh loadMesh(const String &file)
- {
- Mesh mesh;
-
- vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
- reader->SetFileName(file.c_str());
- reader->Update();
-
- vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput();
- CV_Assert("File does not exist or file format is not supported." && poly_data);
-
- vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints();
- vtkIdType nr_points = mesh_points->GetNumberOfPoints();
-
- mesh.cloud.create(1, nr_points, CV_32FC3);
-
- Vec3f *mesh_cloud = mesh.cloud.ptr<Vec3f>();
- for (vtkIdType i = 0; i < mesh_points->GetNumberOfPoints(); i++)
- {
- Vec3d point;
- mesh_points->GetPoint(i, point.val);
- mesh_cloud[i] = point;
- }
-
- // Then the color information, if any
- vtkUnsignedCharArray* poly_colors = 0;
- if (poly_data->GetPointData())
- poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars());
-
- if (poly_colors && (poly_colors->GetNumberOfComponents() == 3))
- {
- mesh.colors.create(1, nr_points, CV_8UC3);
- Vec3b *mesh_colors = mesh.colors.ptr<cv::Vec3b>();
-
- for (vtkIdType i = 0; i < mesh_points->GetNumberOfPoints(); i++)
- {
- Vec3b point_color;
- poly_colors->GetTupleValue(i, point_color.val);
-
- std::swap(point_color[0], point_color[2]); // RGB -> BGR
- mesh_colors[i] = point_color;
- }
- }
- else
- mesh.colors.release();
-
- // Now handle the polygons
- vtkIdType* cell_points;
- vtkIdType nr_cell_points;
- vtkCellArray * mesh_polygons = poly_data->GetPolys();
- mesh_polygons->InitTraversal();
-
- mesh.polygons.create(1, mesh_polygons->GetSize(), CV_32SC1);
-
- int* polygons = mesh.polygons.ptr<int>();
- while (mesh_polygons->GetNextCell(nr_cell_points, cell_points))
- {
- *polygons++ = nr_cell_points;
- for (int i = 0; i < nr_cell_points; ++i)
- *polygons++ = static_cast<int>(cell_points[i]);
- }
-
- return mesh;
- }
- };
-}}}
-
cv::viz::Mesh cv::viz::Mesh::load(const String& file)
{
- return MeshUtils::loadMesh(file);
+ vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
+ reader->SetFileName(file.c_str());
+ reader->Update();
+
+ vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput();
+ CV_Assert("File does not exist or file format is not supported." && polydata);
+
+ Mesh mesh;
+ vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
+ sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
+ sink->SetInputConnection(reader->GetOutputPort());
+ sink->Write();
+
+ // Now handle the polygons
+
+ vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
+ mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
+ int* poly_ptr = mesh.polygons.ptr<int>();
+
+ polygons->InitTraversal();
+ vtkIdType nr_cell_points, *cell_points;
+ while (polygons->GetNextCell(nr_cell_points, cell_points))
+ {
+ *poly_ptr++ = nr_cell_points;
+ for (vtkIdType i = 0; i < nr_cell_points; ++i)
+ *poly_ptr++ = (int)cell_points[i];
+ }
+
+ String::size_type pos = file.find_last_of('.');
+ String png = (pos == String::npos) ? file : file.substr(0, pos+1) + "png";
+
+ vtkSmartPointer<vtkPNGReader> png_reader = vtkSmartPointer<vtkPNGReader>::New();
+
+ if (png_reader->CanReadFile(png.c_str()))
+ {
+ png_reader->SetFileName(png.c_str());
+ png_reader->Update();
+ vtkSmartPointer<vtkImageData> imagedata = png_reader->GetOutput();
+
+ Size sz(imagedata->GetDimensions()[0], imagedata->GetDimensions()[1]);
+ int channels = imagedata->GetNumberOfScalarComponents();
+ CV_Assert(imagedata->GetScalarType() == VTK_UNSIGNED_CHAR);
+
+ void *ptr = imagedata->GetScalarPointer(0,0,0);
+ Mat(sz, CV_8UC(channels), ptr).copyTo(mesh.texture);
+ }
+
+ return mesh;
}
////////////////////////////////////////////////////////////////////
diff --git a/modules/viz/src/vtk/vtkCloudMatSink.cpp b/modules/viz/src/vtk/vtkCloudMatSink.cpp
index cf1eb4648..09ef0cca9 100644
--- a/modules/viz/src/vtk/vtkCloudMatSink.cpp
+++ b/modules/viz/src/vtk/vtkCloudMatSink.cpp
@@ -52,11 +52,12 @@ namespace cv { namespace viz
cv::viz::vtkCloudMatSink::vtkCloudMatSink() {}
cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {}
-void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals)
+void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals, OutputArray _tcoords)
{
cloud = _cloud;
colors = _colors;
normals = _normals;
+ tcoords = _tcoords;
}
void cv::viz::vtkCloudMatSink::WriteData()
@@ -120,12 +121,32 @@ void cv::viz::vtkCloudMatSink::WriteData()
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));
+ *cptr++ = Vec3d(normals_data->GetTuple(i));
buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
}
else
normals.release();
+
+ vtkSmartPointer<vtkDataArray> coords_data = input->GetPointData() ? input->GetPointData()->GetTCoords() : 0;
+
+ if (tcoords.needed() && coords_data)
+ {
+ int vtktype = coords_data->GetDataType();
+
+ CV_Assert(vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE);
+ CV_Assert(cloud.total() == (size_t)coords_data->GetNumberOfTuples());
+
+ Mat buffer(cloud.size(), CV_64FC2);
+ Vec2d *cptr = buffer.ptr<Vec2d>();
+ for(size_t i = 0; i < buffer.total(); ++i)
+ *cptr++ = Vec2d(coords_data->GetTuple(i));
+
+ buffer.convertTo(tcoords, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
+
+ }
+ else
+ tcoords.release();
}
void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
diff --git a/modules/viz/src/vtk/vtkCloudMatSink.h b/modules/viz/src/vtk/vtkCloudMatSink.h
index 69262f247..3af9e6544 100644
--- a/modules/viz/src/vtk/vtkCloudMatSink.h
+++ b/modules/viz/src/vtk/vtkCloudMatSink.h
@@ -59,7 +59,7 @@ namespace cv
vtkTypeMacro(vtkCloudMatSink,vtkPolyDataWriter)
void PrintSelf(ostream& os, vtkIndent indent);
- void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray());
+ void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray(), OutputArray tcoords = noArray());
protected:
vtkCloudMatSink();
@@ -67,7 +67,7 @@ namespace cv
void WriteData();
- _OutputArray cloud, colors, normals;
+ _OutputArray cloud, colors, normals, tcoords;
private:
vtkCloudMatSink(const vtkCloudMatSink&); // Not implemented.