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Updated cloud io functionality - removed dependency from VTK legacy

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This commit is contained in:
Anatoly Baksheev 2014-02-02 19:00:54 +04:00
parent 63dbe66b41
commit eb8728d727
10 changed files with 313 additions and 24 deletions
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4
modules/viz/src/precomp.hpp
View File

@ -76,7 +76,6 @@
#include <vtkDoubleArray.h>
#include <vtkPointData.h>
#include <vtkPolyData.h>
#include <vtkPolyDataReader.h>
#include <vtkPolyDataMapper.h>
#include <vtkDataSetMapper.h>
#include <vtkCellArray.h>
@ -115,11 +114,9 @@
#include <vtkObjectFactory.h>
#include <vtkPolyDataAlgorithm.h>
#include <vtkMergeFilter.h>
#include <vtkDataSetWriter.h>
#include <vtkErrorCode.h>
#include <vtkPLYWriter.h>
#include <vtkSTLWriter.h>
#include <vtkSimplePointsReader.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkSTLReader.h>
@ -142,6 +139,7 @@
#include <vtk/vtkOBJWriter.h>
#include <vtk/vtkXYZWriter.h>
#include <vtk/vtkXYZReader.h>
#include <vtk/vtkCloudMatSink.h>
#include <vtk/vtkCloudMatSource.h>
#include <vtk/vtkTrajectorySource.h>

4
modules/viz/src/vizcore.cpp
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@ -173,8 +173,8 @@ cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray n
vtkSmartPointer<vtkPolyDataAlgorithm> reader;
if (extention == ".xyz")
{
reader = vtkSmartPointer<vtkSimplePointsReader>::New();
vtkSimplePointsReader::SafeDownCast(reader)->SetFileName(file.c_str());
reader = vtkSmartPointer<vtkXYZReader>::New();
vtkXYZReader::SafeDownCast(reader)->SetFileName(file.c_str());
}
else if (extention == ".ply")
{

16
modules/viz/src/vtk/vtkCloudMatSink.cpp
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@ -156,3 +156,19 @@ void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
os << indent << "Colors: " << colors.needed() << "\n";
os << indent << "Normals: " << normals.needed() << "\n";
}
int cv::viz::vtkCloudMatSink::FillInputPortInformation(int, vtkInformation *info)
{
info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
return 1;
}
vtkPolyData* cv::viz::vtkCloudMatSink::GetInput()
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
}
vtkPolyData* cv::viz::vtkCloudMatSink::GetInput(int port)
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
}

12
modules/viz/src/vtk/vtkCloudMatSink.h
View File

@ -46,26 +46,32 @@
#define __vtkCloudMatSink_h
#include <opencv2/core/core.hpp>
#include <vtkPolyDataWriter.h>
#include <vtkWriter.h>
namespace cv
{
namespace viz
{
class vtkCloudMatSink : public vtkPolyDataWriter
class vtkCloudMatSink : public vtkWriter
{
public:
static vtkCloudMatSink *New();
vtkTypeMacro(vtkCloudMatSink,vtkPolyDataWriter)
vtkTypeMacro(vtkCloudMatSink,vtkWriter)
void PrintSelf(ostream& os, vtkIndent indent);
void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray(), OutputArray tcoords = noArray());
// Description:
// Get the input to this writer.
vtkPolyData* GetInput();
vtkPolyData* GetInput(int port);
protected:
vtkCloudMatSink();
~vtkCloudMatSink();
void WriteData();
int FillInputPortInformation(int port, vtkInformation *info);
_OutputArray cloud, colors, normals, tcoords;

37
modules/viz/src/vtk/vtkOBJWriter.cpp
View File

@ -54,7 +54,6 @@ cv::viz::vtkOBJWriter::vtkOBJWriter()
std::ofstream fout; // only used to extract the default precision
this->DecimalPrecision = fout.precision();
this->FileName = NULL;
this->FileType = VTK_ASCII;
}
cv::viz::vtkOBJWriter::~vtkOBJWriter(){}
@ -65,9 +64,22 @@ void cv::viz::vtkOBJWriter::WriteData()
if (!input)
return;
std::ostream *outfilep = this->OpenVTKFile();
if (!outfilep)
if (!this->FileName )
{
vtkErrorMacro(<< "No FileName specified! Can't write!");
this->SetErrorCode(vtkErrorCode::NoFileNameError);
return;
}
vtkDebugMacro(<<"Opening vtk file for writing...");
ostream *outfilep = new ofstream(this->FileName, ios::out);
if (outfilep->fail())
{
vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
this->SetErrorCode(vtkErrorCode::CannotOpenFileError);
delete outfilep;
return;
}
std::ostream& outfile = *outfilep;
@ -224,7 +236,8 @@ void cv::viz::vtkOBJWriter::WriteData()
}
} /* if (input->GetNumberOfStrips() > 0) */
this->CloseVTKFile(outfilep);
vtkDebugMacro(<<"Closing vtk file\n");
delete outfilep;
// Delete the file if an error occurred
if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
@ -239,3 +252,19 @@ void cv::viz::vtkOBJWriter::PrintSelf(ostream& os, vtkIndent indent)
Superclass::PrintSelf(os, indent);
os << indent << "DecimalPrecision: " << DecimalPrecision << "\n";
}
int cv::viz::vtkOBJWriter::FillInputPortInformation(int, vtkInformation *info)
{
info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
return 1;
}
vtkPolyData* cv::viz::vtkOBJWriter::GetInput()
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
}
vtkPolyData* cv::viz::vtkOBJWriter::GetInput(int port)
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
}

22
modules/viz/src/vtk/vtkOBJWriter.h
View File

@ -45,29 +45,41 @@
#ifndef __vtkOBJWriter_h
#define __vtkOBJWriter_h
#include <vtkPolyDataWriter.h>
#include <vtkWriter.h>
namespace cv
{
namespace viz
{
class vtkOBJWriter : public vtkPolyDataWriter
class vtkOBJWriter : public vtkWriter
{
public:
static vtkOBJWriter *New();
vtkTypeMacro(vtkOBJWriter,vtkPolyDataWriter)
vtkTypeMacro(vtkOBJWriter,vtkWriter)
void PrintSelf(ostream& os, vtkIndent indent);
vtkGetMacro(DecimalPrecision, int);
vtkSetMacro(DecimalPrecision, int);
vtkGetMacro(DecimalPrecision, int)
vtkSetMacro(DecimalPrecision, int)
// Description:
// Specify file name of data file to write.
vtkSetStringMacro(FileName)
vtkGetStringMacro(FileName)
// Description:
// Get the input to this writer.
vtkPolyData* GetInput();
vtkPolyData* GetInput(int port);
protected:
vtkOBJWriter();
~vtkOBJWriter();
void WriteData();
int FillInputPortInformation(int port, vtkInformation *info);
int DecimalPrecision;
char *FileName;
private:
vtkOBJWriter(const vtkOBJWriter&); // Not implemented.

107
modules/viz/src/vtk/vtkXYZReader.cpp Normal file
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@ -0,0 +1,107 @@
/*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(vtkXYZReader);
}}
cv::viz::vtkXYZReader::vtkXYZReader()
{
this->FileName = 0;
this->SetNumberOfInputPorts(0);
}
cv::viz::vtkXYZReader::~vtkXYZReader()
{
this->SetFileName(0);
}
void cv::viz::vtkXYZReader::PrintSelf(ostream& os, vtkIndent indent)
{
this->Superclass::PrintSelf(os,indent);
os << indent << "FileName: " << (this->FileName ? this->FileName : "(none)") << "\n";
}
int cv::viz::vtkXYZReader::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector* outputVector)
{
// Make sure we have a file to read.
if(!this->FileName)
{
vtkErrorMacro("A FileName must be specified.");
return 0;
}
// Open the input file.
ifstream fin(this->FileName);
if(!fin)
{
vtkErrorMacro("Error opening file " << this->FileName);
return 0;
}
// Allocate objects to hold points and vertex cells.
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> verts = vtkSmartPointer<vtkCellArray>::New();
// Read points from the file.
vtkDebugMacro("Reading points from file " << this->FileName);
double x[3];
while(fin >> x[0] >> x[1] >> x[2])
{
vtkIdType id = points->InsertNextPoint(x);
verts->InsertNextCell(1, &id);
}
vtkDebugMacro("Read " << points->GetNumberOfPoints() << " points.");
// Store the points and cells in the output data object.
vtkPolyData* output = vtkPolyData::GetData(outputVector);
output->SetPoints(points);
output->SetVerts(verts);
return 1;
}

80
modules/viz/src/vtk/vtkXYZReader.h Normal file
View File

@ -0,0 +1,80 @@
/*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 __vtkXYZReader_h
#define __vtkXYZReader_h
#include "vtkPolyDataAlgorithm.h"
namespace cv
{
namespace viz
{
class vtkXYZReader : public vtkPolyDataAlgorithm
{
public:
static vtkXYZReader* New();
vtkTypeMacro(vtkXYZReader,vtkPolyDataAlgorithm)
void PrintSelf(ostream& os, vtkIndent indent);
// Description:
// Set/Get the name of the file from which to read points.
vtkSetStringMacro(FileName)
vtkGetStringMacro(FileName)
protected:
vtkXYZReader();
~vtkXYZReader();
char* FileName;
int RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector*);
private:
vtkXYZReader(const vtkXYZReader&); // Not implemented.
void operator=(const vtkXYZReader&); // Not implemented.
};
}
}
#endif

37
modules/viz/src/vtk/vtkXYZWriter.cpp
View File

@ -61,10 +61,22 @@ void cv::viz::vtkXYZWriter::WriteData()
if (!input)
return;
// OpenVTKFile() will report any errors that happen
ostream *outfilep = this->OpenVTKFile();
if (!outfilep)
if (!this->FileName )
{
vtkErrorMacro(<< "No FileName specified! Can't write!");
this->SetErrorCode(vtkErrorCode::NoFileNameError);
return;
}
vtkDebugMacro(<<"Opening vtk file for writing...");
ostream *outfilep = new ofstream(this->FileName, ios::out);
if (outfilep->fail())
{
vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
this->SetErrorCode(vtkErrorCode::CannotOpenFileError);
delete outfilep;
return;
}
ostream &outfile = *outfilep;
@ -76,7 +88,8 @@ void cv::viz::vtkXYZWriter::WriteData()
}
// Close the file
this->CloseVTKFile(outfilep);
vtkDebugMacro(<<"Closing vtk file\n");
delete outfilep;
// Delete the file if an error occurred
if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
@ -86,8 +99,24 @@ void cv::viz::vtkXYZWriter::WriteData()
}
}
int cv::viz::vtkXYZWriter::FillInputPortInformation(int, vtkInformation *info)
{
info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
return 1;
}
void cv::viz::vtkXYZWriter::PrintSelf(ostream& os, vtkIndent indent)
{
this->Superclass::PrintSelf(os,indent);
os << indent << "DecimalPrecision: " << this->DecimalPrecision << "\n";
}
vtkPolyData* cv::viz::vtkXYZWriter::GetInput()
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
}
vtkPolyData* cv::viz::vtkXYZWriter::GetInput(int port)
{
return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
}

18
modules/viz/src/vtk/vtkXYZWriter.h
View File

@ -45,29 +45,41 @@
#ifndef __vtkXYZWriter_h
#define __vtkXYZWriter_h
#include "vtkPolyDataWriter.h"
#include "vtkWriter.h"
namespace cv
{
namespace viz
{
class vtkXYZWriter : public vtkPolyDataWriter
class vtkXYZWriter : public vtkWriter
{
public:
static vtkXYZWriter *New();
vtkTypeMacro(vtkXYZWriter,vtkPolyDataWriter)
vtkTypeMacro(vtkXYZWriter,vtkWriter)
void PrintSelf(ostream& os, vtkIndent indent);
vtkGetMacro(DecimalPrecision, int)
vtkSetMacro(DecimalPrecision, int)
// Description:
// Specify file name of data file to write.
vtkSetStringMacro(FileName)
vtkGetStringMacro(FileName)
// Description:
// Get the input to this writer.
vtkPolyData* GetInput();
vtkPolyData* GetInput(int port);
protected:
vtkXYZWriter();
~vtkXYZWriter(){}
void WriteData();
int FillInputPortInformation(int port, vtkInformation *info);
int DecimalPrecision;
char *FileName;
private:
vtkXYZWriter(const vtkXYZWriter&); // Not implemented.