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added vtkCloudMatSink, reworked cloud IO functions, added normals support

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This commit is contained in:
Anatoly Baksheev 2013-12-31 21:50:38 +04:00
parent 1c4cfd8eaf
commit c1b41caa7c
7 changed files with 233 additions and 53 deletions
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6
modules/viz/include/opencv2/viz.hpp
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@ -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

1
modules/viz/src/precomp.hpp
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@ -132,6 +132,7 @@
#endif
#include <vtk/vtkCloudMatSource.h>
#include <vtk/vtkCloudMatSink.h>
#include <vtk/vtkOBJWriter.h>
#include <vtk/vtkXYZWriter.h>

57
modules/viz/src/vizcore.cpp
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@ -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;
}

137
modules/viz/src/vtk/vtkCloudMatSink.cpp Normal file
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@ -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";
}

76
modules/viz/src/vtk/vtkCloudMatSink.h Normal file
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@ -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

2
modules/viz/src/vtk/vtkCloudMatSource.cpp
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@ -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);

7
modules/viz/test/test_viz3d.cpp
View File

@ -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));