simplification of cloud collection
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@ -112,15 +112,8 @@ void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, co
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vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
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source->SetColorCloud(cloud, colors);
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vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
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transform->SetMatrix(pose.matrix.val);
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vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(source->GetOutputPort(), pose);
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vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
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transform_filter->SetInputConnection(source->GetOutputPort());
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transform_filter->SetTransform(transform);
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transform_filter->Update();
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vtkSmartPointer<vtkPolyData> polydata = transform_filter->GetOutput();
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vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
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CV_Assert("Incompatible widget type." && actor);
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@ -256,17 +256,22 @@ namespace cv
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return normals_generator->GetOutput();
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}
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static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkPolyData> polydata, const Affine3d& pose)
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static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkAlgorithmOutput> algorithm_output_port, const Affine3d& pose)
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{
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vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
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transform->SetMatrix(vtkmatrix(pose.matrix));
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vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
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transform_filter->SetTransform(transform);
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transform_filter->SetInputConnection(polydata->GetProducerPort());
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transform_filter->SetInputConnection(algorithm_output_port);
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transform_filter->Update();
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return transform_filter->GetOutput();
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}
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static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkPolyData> polydata, const Affine3d& pose)
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{
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return TransformPolydata(polydata->GetProducerPort(), pose);
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}
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};
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}
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}
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