opencv/modules/viz/src/widget.cpp

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#include "precomp.hpp"
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///////////////////////////////////////////////////////////////////////////////////////////////
/// widget implementation
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class cv::viz::Widget::Impl
{
public:
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vtkSmartPointer<vtkProp> prop;
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Impl() : prop(0) {}
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};
cv::viz::Widget::Widget() : impl_( new Impl() ) { }
cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() )
{
if (other.impl_ && other.impl_->prop) impl_->prop = other.impl_->prop;
}
cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other)
{
if (!impl_) impl_ = new Impl();
if (other.impl_) impl_->prop = other.impl_->prop;
return *this;
}
cv::viz::Widget::~Widget()
{
if (impl_)
{
delete impl_;
impl_ = 0;
}
}
cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
{
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
reader->SetFileName (file_name.c_str ());
vtkSmartPointer<vtkDataSet> data = reader->GetOutput();
CV_Assert("File does not exist or file format is not supported." && data);
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput (data);
vtkSmartPointer<vtkDataArray> scalars = data->GetPointData ()->GetScalars ();
if (scalars)
{
cv::Vec3d minmax(scalars->GetRange());
mapper->SetScalarRange(minmax.val);
mapper->SetScalarModeToUsePointData ();
// interpolation OFF, if data is a vtkPolyData that contains only vertices, ON for anything else.
vtkPolyData* polyData = vtkPolyData::SafeDownCast (data);
bool interpolation = (polyData && polyData->GetNumberOfCells () != polyData->GetNumberOfVerts ());
mapper->SetInterpolateScalarsBeforeMapping (interpolation);
mapper->ScalarVisibilityOn ();
}
mapper->ImmediateModeRenderingOff ();
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, data->GetNumberOfPoints () / 10)));
actor->GetProperty ()->SetInterpolationToFlat ();
actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper);
Widget widget;
widget.impl_->prop = actor;
return widget;
}
void cv::viz::Widget::setRenderingProperty(int property, double value)
{
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor);
switch (property)
{
case VIZ_POINT_SIZE:
{
actor->GetProperty ()->SetPointSize (float (value));
actor->Modified ();
break;
}
case VIZ_OPACITY:
{
actor->GetProperty ()->SetOpacity (value);
actor->Modified ();
break;
}
// Turn on/off flag to control whether data is rendered using immediate
// mode or note. Immediate mode rendering tends to be slower but it can
// handle larger datasets. The default value is immediate mode off. If you
// are having problems rendering a large dataset you might want to consider
// using immediate more rendering.
case VIZ_IMMEDIATE_RENDERING:
{
actor->GetMapper ()->SetImmediateModeRendering (int (value));
actor->Modified ();
break;
}
case VIZ_LINE_WIDTH:
{
actor->GetProperty ()->SetLineWidth (float (value));
actor->Modified ();
break;
}
default:
CV_Assert("setPointCloudRenderingProperties: Unknown property");
}
}
double cv::viz::Widget::getRenderingProperty(int property) const
{
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor);
double value = 0.0;
switch (property)
{
case VIZ_POINT_SIZE:
{
value = actor->GetProperty ()->GetPointSize ();
actor->Modified ();
break;
}
case VIZ_OPACITY:
{
value = actor->GetProperty ()->GetOpacity ();
actor->Modified ();
break;
}
case VIZ_LINE_WIDTH:
{
value = actor->GetProperty ()->GetLineWidth ();
actor->Modified ();
break;
}
case VIZ_FONT_SIZE:
{
vtkTextActor* text_actor = vtkTextActor::SafeDownCast (actor);
vtkSmartPointer<vtkTextProperty> tprop = text_actor->GetTextProperty ();
tprop->SetFontSize (int (value));
text_actor->Modified ();
break;
}
case VIZ_REPRESENTATION:
{
switch (int (value))
{
case REPRESENTATION_POINTS: actor->GetProperty ()->SetRepresentationToPoints (); break;
case REPRESENTATION_WIREFRAME: actor->GetProperty ()->SetRepresentationToWireframe (); break;
case REPRESENTATION_SURFACE: actor->GetProperty ()->SetRepresentationToSurface (); break;
}
actor->Modified ();
break;
}
case VIZ_SHADING:
{
switch (int (value))
{
case SHADING_FLAT: actor->GetProperty ()->SetInterpolationToFlat (); break;
case SHADING_GOURAUD:
{
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetNormals ())
{
vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
normals->SetInput (actor->GetMapper ()->GetInput ());
normals->Update ();
vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
}
actor->GetProperty ()->SetInterpolationToGouraud ();
break;
}
case SHADING_PHONG:
{
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetNormals ())
{
vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
normals->SetInput (actor->GetMapper ()->GetInput ());
normals->Update ();
vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
}
actor->GetProperty ()->SetInterpolationToPhong ();
break;
}
}
actor->Modified ();
break;
}
default:
CV_Assert("getPointCloudRenderingProperties: Unknown property");
}
return value;
}
///////////////////////////////////////////////////////////////////////////////////////////////
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/// widget accessor implementaion
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vtkSmartPointer<vtkProp> cv::viz::WidgetAccessor::getProp(const Widget& widget)
{
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return widget.impl_->prop;
}
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void cv::viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> prop)
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{
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widget.impl_->prop = prop;
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}
///////////////////////////////////////////////////////////////////////////////////////////////
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/// widget3D implementation
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struct cv::viz::Widget3D::MatrixConverter
{
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static Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
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{
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Matx44f m;
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for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
m(i, k) = vtk_matrix->GetElement (i, k);
return m;
}
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static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const Matx44f& m)
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{
vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
vtk_matrix->SetElement(i, k, m(i, k));
return vtk_matrix;
}
};
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void cv::viz::Widget3D::setPose(const Affine3f &pose)
{
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
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vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
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void cv::viz::Widget3D::updatePose(const Affine3f &pose)
{
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
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vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
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{
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setPose(pose);
return ;
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}
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Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
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Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = MatrixConverter::convertToVtkMatrix(updated_pose.matrix);
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actor->SetUserMatrix (matrix);
actor->Modified ();
}
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cv::Affine3f cv::viz::Widget3D::getPose() const
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{
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
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vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
return Affine3f(matrix_cv);
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}
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void cv::viz::Widget3D::setColor(const Color &color)
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{
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// Cast to actor instead of prop3d since prop3d doesn't provide getproperty
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vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor);
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Color c = vtkcolor(color);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->GetProperty ()->SetColor (c.val);
actor->GetProperty ()->SetEdgeColor (c.val);
actor->Modified ();
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}
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template<> cv::viz::Widget3D cv::viz::Widget::cast<cv::viz::Widget3D>()
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget cannot be cast." && actor);
Widget3D widget;
WidgetAccessor::setProp(widget, actor);
return widget;
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// widget2D implementation
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void cv::viz::Widget2D::setColor(const Color &color)
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{
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vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor);
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Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val);
actor->Modified ();
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}
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template<> cv::viz::Widget2D cv::viz::Widget::cast<cv::viz::Widget2D>()
{
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget cannot be cast." && actor);
Widget2D widget;
WidgetAccessor::setProp(widget, actor);
return widget;
}