set background texture method

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -99,6 +99,8 @@ namespace cv
             void setWindowPosition(const Point& window_position);
             void setFullScreen(bool mode = true);
             void setBackgroundColor(const Color& color = Color::black());
+            void setBackgroundTexture(InputArray image = noArray());
+            void setBackgroundMeshLab();
 
             void spin();
             void spinOnce(int time = 1, bool force_redraw = false);

modules/viz/src/shapes.cpp

@@ -102,29 +102,6 @@ template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// plane widget implementation
 
-namespace cv { namespace viz { namespace
-{
-    struct PlaneUtils
-    {
-        template<typename _Tp>
-        static vtkSmartPointer<vtkTransformPolyDataFilter> setSize(const Vec<_Tp, 3> &center, vtkSmartPointer<vtkAlgorithmOutput> poly_data_port, double size)
-        {
-            vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
-            transform->PreMultiply();
-            transform->Translate(center[0], center[1], center[2]);
-            transform->Scale(size, size, size);
-            transform->Translate(-center[0], -center[1], -center[2]);
-
-            vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
-            transform_filter->SetInputConnection(poly_data_port);
-            transform_filter->SetTransform(transform);
-            transform_filter->Update();
-
-            return transform_filter;
-        }
-    };
-}}}
-
 cv::viz::WPlane::WPlane(const Size2d& size, const Color &color)
 {
     vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();

modules/viz/src/viz3d.cpp

@@ -113,15 +113,7 @@ void cv::viz::Viz3d::removeWidget(const String &id) { impl_->removeWidget(id); }
 cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const { return impl_->getWidget(id); }
 void cv::viz::Viz3d::removeAllWidgets() { impl_->removeAllWidgets(); }
 
-
-void cv::viz::Viz3d::showImage(InputArray image, const Size& window_size)
-{
-    removeAllWidgets();
-    if (window_size.width > 0 && window_size.height > 0)
-        setWindowSize(window_size);
-
-    showWidget("showImage", WImageOverlay(image, Rect(Point(0,0), getWindowSize())));
-}
+void cv::viz::Viz3d::showImage(InputArray image, const Size& window_size) { impl_->showImage(image, window_size); }
 
 void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3d &pose) { impl_->setWidgetPose(id, pose); }
 void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3d &pose) { impl_->updateWidgetPose(id, pose); }
@@ -146,6 +138,9 @@ void cv::viz::Viz3d::setWindowPosition(const Point& window_position) { impl_->se
 void cv::viz::Viz3d::setFullScreen(bool mode) { impl_->setFullScreen(mode); }
 void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); }
 
+void cv::viz::Viz3d::setBackgroundTexture(InputArray image) { impl_->setBackgroundTexture(image); }
+void cv::viz::Viz3d::setBackgroundMeshLab() {impl_->setBackgroundMeshLab(); }
+
 void cv::viz::Viz3d::setRenderingProperty(const String &id, int property, double value) { getWidget(id).setRenderingProperty(property, value); }
 double cv::viz::Viz3d::getRenderingProperty(const String &id, int property) { return getWidget(id).getRenderingProperty(property); }
 

modules/viz/src/vizimpl.cpp

@@ -269,6 +269,15 @@ void cv::viz::Viz3d::VizImpl::removeAllWidgets()
     widget_actor_map_->clear();
     renderer_->RemoveAllViewProps();
 }
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::showImage(InputArray image, const Size& window_size)
+{
+    removeAllWidgets();
+    if (window_size.width > 0 && window_size.height > 0)
+        setWindowSize(window_size);
+
+    showWidget("showImage", WImageOverlay(image, Rect(Point(0,0), getWindowSize())));
+}
 
 /////////////////////////////////////////////////////////////////////////////////////////////
 bool cv::viz::Viz3d::VizImpl::removeActorFromRenderer(vtkSmartPointer<vtkProp> actor)
@@ -295,6 +304,55 @@ void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color)
     renderer_->SetBackground(c.val);
 }
 
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setBackgroundTexture(InputArray image)
+{
+    if (image.empty())
+    {
+        renderer_->SetBackgroundTexture(0);
+        renderer_->TexturedBackgroundOff();
+        return;
+    }
+
+    vtkSmartPointer<vtkImageMatSource> source = vtkSmartPointer<vtkImageMatSource>::New();
+    source->SetImage(image);
+
+    vtkSmartPointer<vtkImageFlip> image_flip = vtkSmartPointer<vtkImageFlip>::New();
+    image_flip->SetFilteredAxis(1); // Vertical flip
+    image_flip->SetInputConnection(source->GetOutputPort());
+
+    vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
+    texture->SetInputConnection(image_flip->GetOutputPort());
+    //texture->Update();
+
+    renderer_->SetBackgroundTexture(texture);
+    renderer_->TexturedBackgroundOn();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setBackgroundMeshLab()
+{
+    static Color up(2, 1, 1), down(240, 120, 120);
+    static Mat meshlab_texture;
+
+    if (meshlab_texture.empty())
+    {
+        meshlab_texture.create(2048, 2048, CV_8UC4);
+
+        for (int y = 0; y < meshlab_texture.rows; ++y)
+        {
+            double alpha = (y+1)/(double)meshlab_texture.rows;
+            Vec4b color = up * (1 - alpha) + down * alpha;
+
+            Vec4b *row = meshlab_texture.ptr<Vec4b>(y);
+            for(int x = 0; x < meshlab_texture.cols; ++x)
+                row[x] = color;
+        }
+
+    }
+    setBackgroundTexture(meshlab_texture);
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
 {

modules/viz/src/vizimpl.hpp

@@ -62,6 +62,8 @@ public:
     Widget getWidget(const String &id) const;
     void removeAllWidgets();
 
+    void showImage(InputArray image, const Size& window_size);
+
     void setWidgetPose(const String &id, const Affine3d &pose);
     void updateWidgetPose(const String &id, const Affine3d &pose);
     Affine3d getWidgetPose(const String &id) const;
@@ -109,6 +111,9 @@ public:
     String getWindowName() const;
     void setBackgroundColor(const Color& color);
 
+    void setBackgroundTexture(InputArray image);
+    void setBackgroundMeshLab();
+
     void spin();
     void spinOnce(int time = 1, bool force_redraw = false);
 

modules/viz/test/tests_simple.cpp

@@ -57,7 +57,7 @@ TEST(Viz, DISABLED_show_cloud_bluberry)
     viz.spin();
 }
 
-TEST(Viz, DISABLED_show_cloud_random_color)
+TEST(Viz, show_cloud_random_color)
 {
     Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
 
@@ -67,6 +67,7 @@ TEST(Viz, DISABLED_show_cloud_random_color)
     Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
 
     Viz3d viz("show_cloud_random_color");
+    viz.setBackgroundMeshLab();
     viz.showWidget("coosys", WCoordinateSystem());
     viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
     viz.spin();
@@ -229,6 +230,7 @@ TEST(Viz, DISABLED_show_overlay_image)
     Size2d half_lsize = Size2d(lena.size()) * 0.5;
 
     Viz3d viz("show_overlay_image");
+    viz.setBackgroundMeshLab();
     Size vsz = viz.getWindowSize();
 
     viz.showWidget("coos", WCoordinateSystem());
@@ -264,12 +266,13 @@ TEST(Viz, DISABLED_show_image_method)
     cv::viz::imshow("show_image_method", make_gray(lena)).spin();
 }
 
-TEST(Viz, DISABLED_show_image_3d)
+TEST(Viz, show_image_3d)
 {
     Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
     Mat gray = make_gray(lena);
 
     Viz3d viz("show_image_3d");
+    viz.setBackgroundMeshLab();
     viz.showWidget("coos", WCoordinateSystem());
     viz.showWidget("cube", WCube());
     viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry()));
@@ -291,6 +294,7 @@ TEST(Viz, DISABLED_show_image_3d)
 TEST(Viz, show_simple_widgets)
 {
     Viz3d viz("show_simple_widgets");
+    viz.setBackgroundMeshLab();
 
     viz.showWidget("coos", WCoordinateSystem());
     viz.showWidget("cube", WCube());
@@ -317,15 +321,16 @@ TEST(Viz, show_simple_widgets)
     viz.spin();
 }
 
-TEST(Viz, DISABLED_show_follower)
+TEST(Viz, show_follower)
 {
     Viz3d viz("show_follower");
 
     viz.showWidget("coos", WCoordinateSystem());
     viz.showWidget("cube", WCube());
     viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true,  Color::green()));
+    viz.setBackgroundMeshLab();
     viz.spinOnce(1500, true);
-    //viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
+    viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
     viz.spin();
 }