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344 lines
12 KiB
C++
344 lines
12 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// Authors:
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// * Ozan Tonkal, ozantonkal@gmail.com
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#ifndef __OPENCV_VIZ_PRECOMP_HPP__
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#define __OPENCV_VIZ_PRECOMP_HPP__
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#include <map>
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#include <ctime>
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#include <list>
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#include <vector>
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#include <iomanip>
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#include <limits>
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#include <vtkAppendPolyData.h>
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#include <vtkAssemblyPath.h>
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#include <vtkCellData.h>
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#include <vtkLineSource.h>
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#include <vtkPropPicker.h>
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#include <vtkSmartPointer.h>
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#include <vtkDataSet.h>
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#include <vtkPolygon.h>
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#include <vtkUnstructuredGrid.h>
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#include <vtkDiskSource.h>
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#include <vtkPlaneSource.h>
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#include <vtkSphereSource.h>
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#include <vtkArrowSource.h>
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#include <vtkOutlineSource.h>
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#include <vtkTransform.h>
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#include <vtkTransformPolyDataFilter.h>
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#include <vtkTubeFilter.h>
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#include <vtkCubeSource.h>
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#include <vtkAxes.h>
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#include <vtkFloatArray.h>
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#include <vtkDoubleArray.h>
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#include <vtkPointData.h>
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#include <vtkPolyData.h>
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#include <vtkPolyDataMapper.h>
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#include <vtkDataSetMapper.h>
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#include <vtkCellArray.h>
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#include <vtkCommand.h>
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#include <vtkPLYReader.h>
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#include <vtkPolyLine.h>
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#include <vtkVectorText.h>
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#include <vtkFollower.h>
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#include <vtkInteractorStyle.h>
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#include <vtkUnsignedCharArray.h>
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#include <vtkRendererCollection.h>
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#include <vtkPNGWriter.h>
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#include <vtkWindowToImageFilter.h>
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#include <vtkInteractorStyleTrackballCamera.h>
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#include <vtkProperty.h>
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#include <vtkCamera.h>
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#include <vtkPlanes.h>
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#include <vtkImageFlip.h>
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#include <vtkRenderWindow.h>
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#include <vtkTextProperty.h>
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#include <vtkProperty2D.h>
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#include <vtkLODActor.h>
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#include <vtkActor.h>
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#include <vtkTextActor.h>
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#include <vtkRenderWindowInteractor.h>
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#include <vtkMath.h>
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#include <vtkExtractEdges.h>
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#include <vtkFrustumSource.h>
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#include <vtkTexture.h>
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#include <vtkTextureMapToPlane.h>
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#include <vtkPolyDataNormals.h>
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#include <vtkAlgorithmOutput.h>
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#include <vtkImageMapper.h>
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#include <vtkPoints.h>
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#include <vtkInformation.h>
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#include <vtkInformationVector.h>
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#include <vtkObjectFactory.h>
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#include <vtkPolyDataAlgorithm.h>
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#include <vtkMergeFilter.h>
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#include <vtkErrorCode.h>
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#include <vtkPLYWriter.h>
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#include <vtkSTLWriter.h>
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#include <vtkPLYReader.h>
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#include <vtkOBJReader.h>
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#include <vtkSTLReader.h>
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#include <vtkPNGReader.h>
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#include <vtkOBJExporter.h>
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#include <vtkVRMLExporter.h>
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#include <vtkTensorGlyph.h>
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#include <vtkImageAlgorithm.h>
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#include <vtkTransformFilter.h>
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#include <vtkConeSource.h>
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#include <vtkElevationFilter.h>
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#include <vtkColorTransferFunction.h>
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#include <vtkStreamingDemandDrivenPipeline.h>
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#include <vtkLight.h>
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#include "vtkCallbackCommand.h"
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#if !defined(_WIN32) || defined(__CYGWIN__)
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# include <unistd.h> /* unlink */
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#else
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# include <io.h> /* unlink */
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#endif
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#include "vtk/vtkOBJWriter.h"
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#include "vtk/vtkXYZWriter.h"
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#include "vtk/vtkXYZReader.h"
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#include "vtk/vtkCloudMatSink.h"
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#include "vtk/vtkCloudMatSource.h"
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#include "vtk/vtkTrajectorySource.h"
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#include "vtk/vtkImageMatSource.h"
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#include <opencv2/core.hpp>
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#include <opencv2/viz.hpp>
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#include <opencv2/viz/widget_accessor.hpp>
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#include <opencv2/core/utility.hpp>
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namespace cv
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{
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namespace viz
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{
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typedef std::map<String, vtkSmartPointer<vtkProp> > WidgetActorMap;
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struct VizMap
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{
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typedef std::map<String, Viz3d> type;
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typedef type::iterator iterator;
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type m;
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~VizMap();
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void replace_clear();
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};
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class VizStorage
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{
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public:
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static void unregisterAll();
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//! window names automatically have Viz - prefix even though not provided by the users
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static String generateWindowName(const String &window_name);
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private:
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VizStorage(); // Static
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static void add(const Viz3d& window);
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static Viz3d& get(const String &window_name);
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static void remove(const String &window_name);
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static bool windowExists(const String &window_name);
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static void removeUnreferenced();
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static VizMap storage;
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friend class Viz3d;
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static VizStorage init;
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};
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template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/norm(v); }
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template<typename _Tp> inline bool isNan(const _Tp* data)
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{
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return isNan(data[0]) || isNan(data[1]) || isNan(data[2]);
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}
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inline vtkSmartPointer<vtkActor> getActor(const Widget3D& widget)
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{
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return vtkActor::SafeDownCast(WidgetAccessor::getProp(widget));
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}
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inline vtkSmartPointer<vtkPolyData> getPolyData(const Widget3D& widget)
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{
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vtkSmartPointer<vtkMapper> mapper = getActor(widget)->GetMapper();
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return vtkPolyData::SafeDownCast(mapper->GetInput());
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}
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inline vtkSmartPointer<vtkMatrix4x4> vtkmatrix(const cv::Matx44d &matrix)
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{
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vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
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vtk_matrix->DeepCopy(matrix.val);
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return vtk_matrix;
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}
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inline Color vtkcolor(const Color& color)
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{
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Color scaled_color = color * (1.0/255.0);
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std::swap(scaled_color[0], scaled_color[2]);
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return scaled_color;
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}
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inline Vec3d get_random_vec(double from = -10.0, double to = 10.0)
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{
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RNG& rng = theRNG();
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return Vec3d(rng.uniform(from, to), rng.uniform(from, to), rng.uniform(from, to));
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}
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struct VtkUtils
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{
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template<class Filter>
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static void SetInputData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata)
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{
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#if VTK_MAJOR_VERSION <= 5
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filter->SetInput(polydata);
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#else
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filter->SetInputData(polydata);
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#endif
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}
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template<class Filter>
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static void SetSourceData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata)
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{
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#if VTK_MAJOR_VERSION <= 5
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filter->SetSource(polydata);
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#else
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filter->SetSourceData(polydata);
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#endif
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}
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template<class Filter>
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static void SetInputData(vtkSmartPointer<Filter> filter, vtkImageData* polydata)
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{
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#if VTK_MAJOR_VERSION <= 5
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filter->SetInput(polydata);
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#else
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filter->SetInputData(polydata);
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#endif
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}
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template<class Filter>
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static void AddInputData(vtkSmartPointer<Filter> filter, vtkPolyData *polydata)
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{
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#if VTK_MAJOR_VERSION <= 5
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filter->AddInput(polydata);
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#else
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filter->AddInputData(polydata);
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#endif
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}
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static vtkSmartPointer<vtkUnsignedCharArray> FillScalars(size_t size, const Color& color)
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{
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Vec3b rgb = Vec3d(color[2], color[1], color[0]);
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Vec3b* color_data = new Vec3b[size];
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std::fill(color_data, color_data + size, rgb);
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vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
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scalars->SetName("Colors");
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scalars->SetNumberOfComponents(3);
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scalars->SetNumberOfTuples((vtkIdType)size);
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scalars->SetArray(color_data->val, (vtkIdType)(size * 3), 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
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return scalars;
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}
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static vtkSmartPointer<vtkPolyData> FillScalars(vtkSmartPointer<vtkPolyData> polydata, const Color& color)
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{
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return polydata->GetPointData()->SetScalars(FillScalars(polydata->GetNumberOfPoints(), color)), polydata;
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}
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static vtkSmartPointer<vtkPolyData> ComputeNormals(vtkSmartPointer<vtkPolyData> polydata)
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{
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vtkSmartPointer<vtkPolyDataNormals> normals_generator = vtkSmartPointer<vtkPolyDataNormals>::New();
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normals_generator->ComputePointNormalsOn();
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normals_generator->ComputeCellNormalsOff();
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normals_generator->SetFeatureAngle(0.1);
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normals_generator->SetSplitting(0);
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normals_generator->SetConsistency(1);
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normals_generator->SetAutoOrientNormals(0);
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normals_generator->SetFlipNormals(0);
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normals_generator->SetNonManifoldTraversal(1);
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VtkUtils::SetInputData(normals_generator, polydata);
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normals_generator->Update();
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return normals_generator->GetOutput();
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}
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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(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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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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VtkUtils::SetInputData(transform_filter, polydata);
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transform_filter->SetTransform(transform);
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transform_filter->Update();
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return transform_filter->GetOutput();
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}
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};
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vtkSmartPointer<vtkRenderWindowInteractor> vtkCocoaRenderWindowInteractorNew();
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}
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}
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#include "vtk/vtkVizInteractorStyle.hpp"
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#include "vizimpl.hpp"
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#endif
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