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cloud collection finalize

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This commit is contained in:
Anatoly Baksheev 2014-02-10 13:27:08 +04:00
parent 5dc17f5d58
commit f1c062c30a
4 changed files with 29 additions and 0 deletions
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8
modules/viz/doc/widget.rst
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@ -934,6 +934,8 @@ This 3D Widget defines a collection of clouds. ::
void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity()); void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
//! All points in cloud have the same color //! All points in cloud have the same color
void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity()); void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity());
//! Repacks internal structure to sinle cloud
void finalize();
}; };
viz::WCloudCollection::WCloudCollection viz::WCloudCollection::WCloudCollection
@ -964,6 +966,12 @@ Adds a cloud to the collection.
.. note:: In case there are four channels in the cloud, fourth channel is ignored. .. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::WCloudCollection::finalize
-------------------------------
Finalizes cloud data by repacking to single cloud. Useful for large cloud collections to reduce memory usage
.. ocv:function:: void finalize()
viz::WCloudNormals viz::WCloudNormals
------------------ ------------------
.. ocv:class:: WCloudNormals .. ocv:class:: WCloudNormals

2
modules/viz/include/opencv2/viz/widgets.hpp
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@ -345,6 +345,8 @@ namespace cv
void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity()); void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
//! All points in cloud have the same color //! All points in cloud have the same color
void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity()); void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity());
//! Repacks internal structure to sinle cloud
void finalize();
}; };
class CV_EXPORTS WCloudNormals : public Widget3D class CV_EXPORTS WCloudNormals : public Widget3D

18
modules/viz/src/clouds.cpp
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@ -242,6 +242,24 @@ void cv::viz::WCloudCollection::addCloud(InputArray cloud, const Color &color, c
addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose); addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose);
} }
void cv::viz::WCloudCollection::finalize()
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Incompatible widget type." && actor);
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
CV_Assert("Need to add at least one cloud." && mapper);
vtkSmartPointer<vtkAlgorithm> producer = mapper->GetInputConnection(0, 0)->GetProducer();
vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
append_filter->Update();
vtkSmartPointer<vtkPolyData> polydata = append_filter->GetOutput();
mapper->RemoveInputConnection(0, 0);
VtkUtils::SetInputData(mapper, polydata);
mapper->Modified();
}
template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>() template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();

1
modules/viz/test/tests_simple.cpp
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@ -103,6 +103,7 @@ TEST(Viz, show_cloud_collection)
ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0))); ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0)));
ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0))); ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0)));
ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0))); ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0)));
ccol.finalize();
Viz3d viz("show_cloud_collection"); Viz3d viz("show_cloud_collection");
viz.setBackgroundColor(Color::mlab()); viz.setBackgroundColor(Color::mlab());