updated for compatibility with VTK6.0

cmake/OpenCVDetectVTK.cmake

@@ -2,7 +2,7 @@ if(NOT WITH_VTK OR ANDROID OR IOS)
   return()
 endif()
 
-find_package(VTK 6.0 QUIET COMPONENTS vtkRenderingCore vtkInteractionWidgets vtkInteractionStyle vtkIOLegacy vtkIOPLY vtkRenderingFreeType vtkRenderingLOD vtkFiltersTexture NO_MODULE)
+find_package(VTK 6.0 QUIET COMPONENTS vtkRenderingCore vtkInteractionWidgets vtkInteractionStyle vtkIOLegacy vtkIOPLY vtkRenderingFreeType vtkRenderingLOD vtkFiltersTexture vtkIOExport NO_MODULE)
 
 if(NOT DEFINED VTK_FOUND OR NOT VTK_FOUND)
   find_package(VTK 5.10 QUIET COMPONENTS vtkCommon vtkFiltering vtkRendering vtkWidgets vtkImaging NO_MODULE)
@@ -18,4 +18,4 @@ if(VTK_FOUND)
 else()
   set(HAVE_VTK OFF)
   message(STATUS "VTK is not found. Please set -DVTK_DIR in CMake to VTK build directory, or set $VTK_DIR enviroment variable to VTK install subdirectory with VTKConfig.cmake file (for windows)")
-endif()
+endif()
\ No newline at end of file

modules/viz/src/clouds.cpp

@@ -230,8 +230,8 @@ void cv::viz::WCloudCollection::addCloud(InputArray cloud, InputArray colors, co
     CV_Assert("Cloud Widget without data" && currdata);
 
     vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
-    append_filter->AddInputConnection(currdata->GetProducerPort());
-    append_filter->AddInputConnection(polydata->GetProducerPort());
+    VtkUtils::AddInputData(append_filter, currdata);
+    VtkUtils::AddInputData(append_filter, polydata);
     append_filter->Update();
 
     VtkUtils::SetInputData(mapper, append_filter->GetOutput());

modules/viz/src/precomp.hpp

@@ -230,6 +230,25 @@ namespace cv
                 filter->SetInputData(polydata);
             #endif
             }
+            template<class Filter>
+            static void SetSourceData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata)
+            {
+            #if VTK_MAJOR_VERSION <= 5
+                filter->SetSource(polydata);
+            #else
+                filter->SetSourceData(polydata);
+            #endif
+            }
+
+            template<class Filter>
+            static void SetInputData(vtkSmartPointer<Filter> filter, vtkImageData* polydata)
+            {
+            #if VTK_MAJOR_VERSION <= 5
+                filter->SetInput(polydata);
+            #else
+                filter->SetInputData(polydata);
+            #endif
+            }
 
             template<class Filter>
             static void AddInputData(vtkSmartPointer<Filter> filter, vtkPolyData *polydata)
@@ -285,7 +304,14 @@ namespace cv
 
             static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkPolyData> polydata, const Affine3d& pose)
             {
-                return TransformPolydata(polydata->GetProducerPort(), pose);
+                vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
+                transform->SetMatrix(vtkmatrix(pose.matrix));
+
+                vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
+                VtkUtils::SetInputData(transform_filter, polydata);
+                transform_filter->SetTransform(transform);
+                transform_filter->Update();
+                return transform_filter->GetOutput();
             }
         };
     }

modules/viz/src/shapes.cpp

@@ -355,7 +355,7 @@ cv::viz::WCoordinateSystem::WCoordinateSystem(double scale)
     polydata->GetPointData()->SetScalars(colors);
 
     vtkSmartPointer<vtkTubeFilter> tube_filter = vtkSmartPointer<vtkTubeFilter>::New();
-    tube_filter->SetInputConnection(polydata->GetProducerPort());
+    VtkUtils::SetInputData(tube_filter, polydata);
     tube_filter->SetRadius(axes->GetScaleFactor() / 50.0);
     tube_filter->SetNumberOfSides(6);
     tube_filter->Update();
@@ -447,7 +447,7 @@ cv::viz::WGrid::WGrid(const Vec2i &cells, const Vec2d &cells_spacing, const Colo
 
     // Extract the edges so we have the grid
     vtkSmartPointer<vtkExtractEdges> extract_edges = vtkSmartPointer<vtkExtractEdges>::New();
-    extract_edges->SetInputConnection(grid_data->GetProducerPort());
+    VtkUtils::SetInputData(extract_edges, grid_data);
     extract_edges->Update();
 
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
@@ -854,13 +854,13 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, InputArray _image, d
 
     // Frustum needs to be textured or else it can't be combined with image
     vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
-    frustum_texture->SetInputConnection(frustum->GetProducerPort());
+    VtkUtils::SetInputData(frustum_texture, frustum);
     frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel
     frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color
 
     vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
     append_filter->AddInputConnection(frustum_texture->GetOutputPort());
-    append_filter->AddInputConnection(plane->GetProducerPort());
+    VtkUtils::AddInputData(append_filter, plane);
 
     vtkSmartPointer<vtkActor> actor = getActor(image_widget);
     actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort());
@@ -886,13 +886,13 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, InputArray _image, d
 
     // Frustum needs to be textured or else it can't be combined with image
     vtkSmartPointer<vtkTextureMapToPlane> frustum_texture = vtkSmartPointer<vtkTextureMapToPlane>::New();
-    frustum_texture->SetInputConnection(frustum->GetProducerPort());
+    VtkUtils::SetInputData(frustum_texture, frustum);
     frustum_texture->SetSRange(0.0, 0.0); // Texture mapping with only one pixel
     frustum_texture->SetTRange(0.0, 0.0); // from the image to have constant color
 
     vtkSmartPointer<vtkAppendPolyData> append_filter = vtkSmartPointer<vtkAppendPolyData>::New();
     append_filter->AddInputConnection(frustum_texture->GetOutputPort());
-    append_filter->AddInputConnection(plane->GetProducerPort());
+    VtkUtils::AddInputData(append_filter, plane);
 
     vtkSmartPointer<vtkActor> actor = getActor(image_widget);
     actor->GetMapper()->SetInputConnection(append_filter->GetOutputPort());
@@ -917,7 +917,7 @@ cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double sca
     {
         Mat points = vtkTrajectorySource::ExtractPoints(_path);
         vtkSmartPointer<vtkPolyData> polydata = getPolyData(WPolyLine(points, color));
-        append_filter->AddInputConnection(polydata->GetProducerPort());
+        VtkUtils::AddInputData(append_filter, polydata);
     }
 
     if (display_mode & WTrajectory::FRAMES)
@@ -929,7 +929,7 @@ cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double sca
 
         vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
         tensor_glyph->SetInputConnection(source->GetOutputPort());
-        tensor_glyph->SetSourceConnection(glyph->GetProducerPort());
+        VtkUtils::SetSourceData(tensor_glyph, glyph);
         tensor_glyph->ExtractEigenvaluesOff();  // Treat as a rotation matrix, not as something with eigenvalues
         tensor_glyph->ThreeGlyphsOff();
         tensor_glyph->SymmetricOff();
@@ -968,7 +968,7 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Matx33
 
     vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
     tensor_glyph->SetInputConnection(source->GetOutputPort());
-    tensor_glyph->SetSourceConnection(glyph->GetProducerPort());
+    VtkUtils::SetSourceData(tensor_glyph, glyph);
     tensor_glyph->ExtractEigenvaluesOff();  // Treat as a rotation matrix, not as something with eigenvalues
     tensor_glyph->ThreeGlyphsOff();
     tensor_glyph->SymmetricOff();
@@ -994,7 +994,7 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(InputArray _path, const Vec2d
 
     vtkSmartPointer<vtkTensorGlyph> tensor_glyph = vtkSmartPointer<vtkTensorGlyph>::New();
     tensor_glyph->SetInputConnection(source->GetOutputPort());
-    tensor_glyph->SetSourceConnection(glyph->GetProducerPort());
+    VtkUtils::SetSourceData(tensor_glyph, glyph);
     tensor_glyph->ExtractEigenvaluesOff();  // Treat as a rotation matrix, not as something with eigenvalues
     tensor_glyph->ThreeGlyphsOff();
     tensor_glyph->SymmetricOff();
@@ -1046,7 +1046,7 @@ cv::viz::WTrajectorySpheres::WTrajectorySpheres(InputArray _path, double line_le
 
         vtkSmartPointer<vtkPolyData> polydata = sphere_source->GetOutput();
         polydata->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata->GetNumberOfCells(), c));
-        append_filter->AddInputConnection(polydata->GetProducerPort());
+        VtkUtils::AddInputData(append_filter, polydata);
 
         if (i > 0)
         {
@@ -1064,7 +1064,7 @@ cv::viz::WTrajectorySpheres::WTrajectorySpheres(InputArray _path, double line_le
             line_source->Update();
             vtkSmartPointer<vtkPolyData> polydata = line_source->GetOutput();
             polydata->GetCellData()->SetScalars(VtkUtils::FillScalars(polydata->GetNumberOfCells(), c));
-            append_filter->AddInputConnection(polydata->GetProducerPort());
+            VtkUtils::AddInputData(append_filter, polydata);
         }
     }
     append_filter->Update();

modules/viz/src/widget.cpp

@@ -276,6 +276,7 @@ void cv::viz::Widget3D::applyTransform(const Affine3d &transform)
 
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
     CV_Assert("Widget doesn't have a polydata mapper" && mapper);
+    mapper->Update();
 
     VtkUtils::SetInputData(mapper, VtkUtils::TransformPolydata(mapper->GetInput(), transform));
 }

modules/viz/test/tests_simple.cpp

@@ -113,7 +113,7 @@ TEST(Viz, show_painted_clouds)
     viz.setBackgroundMeshLab();
     viz.showWidget("coosys", WCoordinateSystem());
     viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0)));
-    viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0)));
+    viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0)));
     viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
     viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
     viz.spin();