fixed bugs in cloud collection and added test

modules/viz/doc/viz3d.rst

@@ -482,19 +482,19 @@ This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. ::
         Mat polygons;
 
         //! Loads mesh from a given ply file
-        static Mesh3d loadMesh(const String& file);
+        static Mesh3d load(const String& file);
 
     private:
         /* hidden */
     };
 
-viz::Mesh3d::loadMesh
+viz::Mesh3d::load
 ---------------------
 Loads a mesh from a ``ply`` file.
 
-.. ocv:function:: static Mesh3d loadMesh(const String& file)
+.. ocv:function:: static Mesh3d load(const String& file)
 
-    :param file: File name.
+    :param file: File name (for no only PLY is supported)
 
 
 viz::KeyboardEvent

modules/viz/include/opencv2/viz/types.hpp

@@ -112,7 +112,7 @@ namespace cv
             Mat polygons;
 
             //! Loads mesh from a given ply file
-            static Mesh3d loadMesh(const String& file);
+            static Mesh3d load(const String& file);
         };
 
         class CV_EXPORTS Camera

modules/viz/src/clouds.cpp

@@ -106,121 +106,52 @@ template<> cv::viz::WCloud cv::viz::Widget::cast<cv::viz::WCloud>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// Cloud Collection Widget implementation
 
-namespace cv { namespace viz { namespace
+cv::viz::WCloudCollection::WCloudCollection()
 {
-    struct CloudCollectionUtils
-    {
-        static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points)
-        {
-            vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
-            vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New();
-
-            polydata->SetVerts(vertices);
-
-            vtkSmartPointer<vtkPoints> points = polydata->GetPoints();
-            vtkSmartPointer<vtkIdTypeArray> initcells;
-            nr_points = cloud.total();
+    // Just create the actor
+    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
+    WidgetAccessor::setProp(*this, actor);
+}
 
-            if (!points)
-            {
-                points = vtkSmartPointer<vtkPoints>::New();
-                if (cloud.depth() == CV_32F)
-                    points->SetDataTypeToFloat();
-                else if (cloud.depth() == CV_64F)
-                    points->SetDataTypeToDouble();
-                polydata->SetPoints(points);
-            }
-            points->SetNumberOfPoints(nr_points);
+void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, const Affine3d &pose)
+{
+    vtkSmartPointer<vtkCloudMatSource> source = vtkSmartPointer<vtkCloudMatSource>::New();
+    source->SetColorCloud(cloud, colors);
 
-            if (cloud.depth() == CV_32F)
-            {
-                // Get a pointer to the beginning of the data array
-                Vec3f *data_beg = vtkpoints_data<float>(points);
-                Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
-                nr_points = data_end - data_beg;
-            }
-            else if (cloud.depth() == CV_64F)
-            {
-                // Get a pointer to the beginning of the data array
-                Vec3d *data_beg = vtkpoints_data<double>(points);
-                Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
-                nr_points = data_end - data_beg;
-            }
-            points->SetNumberOfPoints(nr_points);
+    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+    transform->SetMatrix(pose.matrix.val);
 
-            // Update cells
-            vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData();
-            // If no init cells and cells has not been initialized...
-            if (!cells)
-                cells = vtkSmartPointer<vtkIdTypeArray>::New();
+    vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
+    transform_filter->SetInputConnection(source->GetOutputPort());
+    transform_filter->SetTransform(transform);
+    transform_filter->Update();
 
-            // If we have less values then we need to recreate the array
-            if (cells->GetNumberOfTuples() < nr_points)
-            {
-                cells = vtkSmartPointer<vtkIdTypeArray>::New();
+    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Incompatible widget type." && actor);
 
-                // If init cells is given, and there's enough data in it, use it
-                if (initcells && initcells->GetNumberOfTuples() >= nr_points)
-                {
-                    cells->DeepCopy(initcells);
-                    cells->SetNumberOfComponents(2);
-                    cells->SetNumberOfTuples(nr_points);
-                }
-                else
-                {
-                    // If the number of tuples is still too small, we need to recreate the array
-                    cells->SetNumberOfComponents(2);
-                    cells->SetNumberOfTuples(nr_points);
-                    vtkIdType *cell = cells->GetPointer(0);
-                    // Fill it with 1s
-                    std::fill(cell, cell + nr_points * 2, 1);
-                    cell++;
-                    for (vtkIdType i = 0; i < nr_points; ++i, cell += 2)
-                        *cell = i;
-                    // Save the results in initcells
-                    initcells = vtkSmartPointer<vtkIdTypeArray>::New();
-                    initcells->DeepCopy(cells);
-                }
-            }
-            else
-            {
-                // The assumption here is that the current set of cells has more data than needed
-                cells->SetNumberOfComponents(2);
-                cells->SetNumberOfTuples(nr_points);
-            }
+    vtkSmartPointer<vtkPolyData> poly_data = transform_filter->GetOutput();
 
-            // Set the cells and the vertices
-            vertices->SetCells(nr_points, cells);
-            return polydata;
-        }
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
 
-        static void createMapper(vtkSmartPointer<vtkLODActor> actor, vtkSmartPointer<vtkPolyData> poly_data)
-        {
-            vtkDataSetMapper *mapper = vtkDataSetMapper::SafeDownCast(actor->GetMapper());
     if (!mapper)
     {
         // This is the first cloud
-                vtkSmartPointer<vtkPolyDataMapper> mapper_new = vtkSmartPointer<vtkPolyDataMapper>::New();
+        mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
 #if VTK_MAJOR_VERSION <= 5
-                mapper_new->SetInputConnection(poly_data->GetProducerPort());
+        mapper->SetInput(poly_data);
 #else
-                mapper_new->SetInputData(poly_data);
+        mapper->SetInputData(poly_data);
 #endif
+        mapper->SetScalarRange(0, 255);
+        mapper->SetScalarModeToUsePointData();
+        mapper->ScalarVisibilityOn();
+        mapper->ImmediateModeRenderingOff();
 
-                mapper_new->SetScalarRange(0, 255);
-                mapper_new->SetScalarModeToUsePointData();
-
-                bool interpolation = (poly_data && poly_data->GetNumberOfCells() != poly_data->GetNumberOfVerts());
-
-                mapper_new->SetInterpolateScalarsBeforeMapping(interpolation);
-                mapper_new->ScalarVisibilityOn();
-                mapper_new->ImmediateModeRenderingOff();
-
-                actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, poly_data->GetNumberOfPoints() / 10)));
+        actor->SetNumberOfCloudPoints(std::max(1, poly_data->GetNumberOfPoints()/10));
         actor->GetProperty()->SetInterpolationToFlat();
         actor->GetProperty()->BackfaceCullingOn();
-                actor->SetMapper(mapper_new);
-                return ;
+        actor->SetMapper(mapper);
+        return;
     }
 
     vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
@@ -228,106 +159,21 @@ namespace cv { namespace viz { namespace
 
     vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
 #if VTK_MAJOR_VERSION <= 5
-            appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
-            appendFilter->AddInputConnection(poly_data->GetProducerPort());
+    appendFilter->AddInput(data);
+    appendFilter->AddInput(poly_data);
+    mapper->SetInput(appendFilter->GetOutput());
 #else
     appendFilter->AddInputData(data);
     appendFilter->AddInputData(poly_data);
+    mapper->SetInputData(appendFilter->GetOutput());
 #endif
-            mapper->SetInputConnection(appendFilter->GetOutputPort());
 
-            // Update the number of cloud points
-            vtkIdType old_cloud_points = actor->GetNumberOfCloudPoints();
-            actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, old_cloud_points+poly_data->GetNumberOfPoints() / 10)));
-        }
-    };
-}}}
-
-cv::viz::WCloudCollection::WCloudCollection()
-{
-    // Just create the actor
-    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
-    WidgetAccessor::setProp(*this, actor);
-}
-
-void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors, const Affine3d &pose)
-{
-    Mat cloud = _cloud.getMat();
-    Mat colors = _colors.getMat();
-    CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
-    CV_Assert(colors.depth() == CV_8U && cloud.size() == colors.size());
-
-    vtkIdType nr_points;
-    vtkSmartPointer<vtkPolyData> polydata =  CloudCollectionUtils::create(cloud, nr_points);
-
-    // Filter colors
-    Vec3b* colors_data = new Vec3b[nr_points];
-    NanFilter::copyColor(colors, colors_data, cloud);
-
-    vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
-    scalars->SetNumberOfComponents(3);
-    scalars->SetNumberOfTuples(nr_points);
-    scalars->SetArray(colors_data->val, 3 * nr_points, 0);
-
-    // Assign the colors
-    polydata->GetPointData()->SetScalars(scalars);
-
-    // Transform the poly data based on the pose
-    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
-    transform->PreMultiply();
-    transform->SetMatrix(convertToVtkMatrix(pose.matrix));
-
-    vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
-    transform_filter->SetTransform(transform);
-#if VTK_MAJOR_VERSION <= 5
-    transform_filter->SetInputConnection(polydata->GetProducerPort());
-#else
-    transform_filter->SetInputData(polydata);
-#endif
-    transform_filter->Update();
-
-    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert("Incompatible widget type." && actor);
-
-    CloudCollectionUtils::createMapper(actor, transform_filter->GetOutput());
+    actor->SetNumberOfCloudPoints(std::max(1, actor->GetNumberOfCloudPoints() + poly_data->GetNumberOfPoints()/10));
 }
 
-void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color, const Affine3d &pose)
+void cv::viz::WCloudCollection::addCloud(InputArray cloud, const Color &color, const Affine3d &pose)
 {
-    Mat cloud = _cloud.getMat();
-    CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
-
-    vtkIdType nr_points;
-    vtkSmartPointer<vtkPolyData> polydata =  CloudCollectionUtils::create(cloud, nr_points);
-
-    vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
-    scalars->SetNumberOfComponents(3);
-    scalars->SetNumberOfTuples(nr_points);
-    scalars->FillComponent(0, color[2]);
-    scalars->FillComponent(1, color[1]);
-    scalars->FillComponent(2, color[0]);
-
-    // Assign the colors
-    polydata->GetPointData()->SetScalars(scalars);
-
-    // Transform the poly data based on the pose
-    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
-    transform->PreMultiply();
-    transform->SetMatrix(convertToVtkMatrix(pose.matrix));
-
-    vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
-    transform_filter->SetTransform(transform);
-#if VTK_MAJOR_VERSION <= 5
-    transform_filter->SetInputConnection(polydata->GetProducerPort());
-#else
-    transform_filter->SetInputData(polydata);
-#endif
-    transform_filter->Update();
-
-    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert("Incompatible widget type." && actor);
-
-    CloudCollectionUtils::createMapper(actor, transform_filter->GetOutput());
+    addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose);
 }
 
 template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>()

modules/viz/src/types.cpp

@@ -128,7 +128,7 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
-cv::viz::Mesh3d cv::viz::Mesh3d::loadMesh(const String& file)
+cv::viz::Mesh3d cv::viz::Mesh3d::load(const String& file)
 {
     return MeshUtils::loadMesh(file);
 }

modules/viz/test/tests_simple.cpp

@@ -85,3 +85,18 @@ TEST(Viz, DISABLED_show_cloud_masked)
     viz.showWidget("dragon", WCloud(dragon_cloud));
     viz.spin();
 }
+
+TEST(Viz, DISABLED_show_cloud_collection)
+{
+    Mat cloud = readCloud(get_dragon_ply_file_path());
+
+    WCloudCollection ccol;
+    ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(1.57, 0, 0)));
+    ccol.addCloud(cloud, Color::blue(),  Affine3d().translate(Vec3d(1, 0, 0)));
+    ccol.addCloud(cloud, Color::red(),   Affine3d().translate(Vec3d(2, 0, 0)));
+
+    Viz3d viz("show_cloud_collection");
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("ccol", ccol);
+    viz.spin();
+}