Updated cloud io functionality - removed dependency from VTK legacy

modules/viz/src/precomp.hpp

@@ -76,7 +76,6 @@
 #include <vtkDoubleArray.h>
 #include <vtkPointData.h>
 #include <vtkPolyData.h>
-#include <vtkPolyDataReader.h>
 #include <vtkPolyDataMapper.h>
 #include <vtkDataSetMapper.h>
 #include <vtkCellArray.h>
@@ -115,11 +114,9 @@
 #include <vtkObjectFactory.h>
 #include <vtkPolyDataAlgorithm.h>
 #include <vtkMergeFilter.h>
-#include <vtkDataSetWriter.h>
 #include <vtkErrorCode.h>
 #include <vtkPLYWriter.h>
 #include <vtkSTLWriter.h>
-#include <vtkSimplePointsReader.h>
 #include <vtkPLYReader.h>
 #include <vtkOBJReader.h>
 #include <vtkSTLReader.h>
@@ -142,6 +139,7 @@
 
 #include <vtk/vtkOBJWriter.h>
 #include <vtk/vtkXYZWriter.h>
+#include <vtk/vtkXYZReader.h>
 #include <vtk/vtkCloudMatSink.h>
 #include <vtk/vtkCloudMatSource.h>
 #include <vtk/vtkTrajectorySource.h>

modules/viz/src/vizcore.cpp

@@ -173,8 +173,8 @@ cv::Mat cv::viz::readCloud(const String& file, OutputArray colors, OutputArray n
     vtkSmartPointer<vtkPolyDataAlgorithm> reader;
     if (extention == ".xyz")
     {
-        reader = vtkSmartPointer<vtkSimplePointsReader>::New();
-        vtkSimplePointsReader::SafeDownCast(reader)->SetFileName(file.c_str());
+        reader = vtkSmartPointer<vtkXYZReader>::New();
+        vtkXYZReader::SafeDownCast(reader)->SetFileName(file.c_str());
     }
     else if (extention == ".ply")
     {

modules/viz/src/vtk/vtkCloudMatSink.cpp

@@ -156,3 +156,19 @@ void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
   os << indent << "Colors: " << colors.needed() << "\n";
   os << indent << "Normals: " << normals.needed() << "\n";
 }
+
+int cv::viz::vtkCloudMatSink::FillInputPortInformation(int, vtkInformation *info)
+{
+    info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
+    return 1;
+}
+
+vtkPolyData* cv::viz::vtkCloudMatSink::GetInput()
+{
+    return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
+}
+
+vtkPolyData* cv::viz::vtkCloudMatSink::GetInput(int port)
+{
+    return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
+}

modules/viz/src/vtk/vtkCloudMatSink.h

@@ -46,26 +46,32 @@
 #define __vtkCloudMatSink_h
 
 #include <opencv2/core/core.hpp>
-#include <vtkPolyDataWriter.h>
+#include <vtkWriter.h>
 
 namespace cv
 {
     namespace viz
     {
-        class vtkCloudMatSink : public vtkPolyDataWriter
+        class vtkCloudMatSink : public vtkWriter
         {
         public:
           static vtkCloudMatSink *New();
-          vtkTypeMacro(vtkCloudMatSink,vtkPolyDataWriter)
+          vtkTypeMacro(vtkCloudMatSink,vtkWriter)
           void PrintSelf(ostream& os, vtkIndent indent);
 
           void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray(), OutputArray tcoords = noArray());
 
+          // Description:
+          // Get the input to this writer.
+          vtkPolyData* GetInput();
+          vtkPolyData* GetInput(int port);
+
         protected:
           vtkCloudMatSink();
           ~vtkCloudMatSink();
 
           void WriteData();
+          int FillInputPortInformation(int port, vtkInformation *info);
 
           _OutputArray cloud, colors, normals, tcoords;
 

modules/viz/src/vtk/vtkOBJWriter.cpp

@@ -54,7 +54,6 @@ cv::viz::vtkOBJWriter::vtkOBJWriter()
     std::ofstream fout; // only used to extract the default precision
     this->DecimalPrecision = fout.precision();
     this->FileName = NULL;
-    this->FileType = VTK_ASCII;
 }
 
 cv::viz::vtkOBJWriter::~vtkOBJWriter(){}
@@ -65,9 +64,22 @@ void cv::viz::vtkOBJWriter::WriteData()
     if (!input)
         return;
 
-    std::ostream *outfilep = this->OpenVTKFile();
-    if (!outfilep)
+    if (!this->FileName )
+    {
+        vtkErrorMacro(<< "No FileName specified! Can't write!");
+        this->SetErrorCode(vtkErrorCode::NoFileNameError);
+        return;
+    }
+
+    vtkDebugMacro(<<"Opening vtk file for writing...");
+    ostream *outfilep = new ofstream(this->FileName, ios::out);
+    if (outfilep->fail())
+    {
+        vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
+        this->SetErrorCode(vtkErrorCode::CannotOpenFileError);
+        delete outfilep;
         return;
+    }
 
     std::ostream& outfile = *outfilep;
 
@@ -224,7 +236,8 @@ void cv::viz::vtkOBJWriter::WriteData()
         }
     } /* if (input->GetNumberOfStrips() > 0) */
 
-    this->CloseVTKFile(outfilep);
+    vtkDebugMacro(<<"Closing vtk file\n");
+    delete outfilep;
 
     // Delete the file if an error occurred
     if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
@@ -239,3 +252,19 @@ void cv::viz::vtkOBJWriter::PrintSelf(ostream& os, vtkIndent indent)
     Superclass::PrintSelf(os, indent);
     os << indent << "DecimalPrecision: " << DecimalPrecision << "\n";
 }
+
+int cv::viz::vtkOBJWriter::FillInputPortInformation(int, vtkInformation *info)
+{
+    info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
+    return 1;
+}
+
+vtkPolyData* cv::viz::vtkOBJWriter::GetInput()
+{
+    return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
+}
+
+vtkPolyData* cv::viz::vtkOBJWriter::GetInput(int port)
+{
+    return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
+}

modules/viz/src/vtk/vtkOBJWriter.h

@@ -45,29 +45,41 @@
 #ifndef __vtkOBJWriter_h
 #define __vtkOBJWriter_h
 
-#include <vtkPolyDataWriter.h>
+#include <vtkWriter.h>
 
 namespace cv
 {
     namespace viz
     {
-        class vtkOBJWriter : public vtkPolyDataWriter
+        class vtkOBJWriter : public vtkWriter
         {
         public:
           static vtkOBJWriter *New();
-          vtkTypeMacro(vtkOBJWriter,vtkPolyDataWriter)
+          vtkTypeMacro(vtkOBJWriter,vtkWriter)
           void PrintSelf(ostream& os, vtkIndent indent);
 
-          vtkGetMacro(DecimalPrecision, int);
-          vtkSetMacro(DecimalPrecision, int);
+          vtkGetMacro(DecimalPrecision, int)
+          vtkSetMacro(DecimalPrecision, int)
+
+          // Description:
+          // Specify file name of data file to write.
+          vtkSetStringMacro(FileName)
+          vtkGetStringMacro(FileName)
+
+          // Description:
+          // Get the input to this writer.
+          vtkPolyData* GetInput();
+          vtkPolyData* GetInput(int port);
 
         protected:
           vtkOBJWriter();
           ~vtkOBJWriter();
 
           void WriteData();
+          int FillInputPortInformation(int port, vtkInformation *info);
 
           int DecimalPrecision;
+          char *FileName;
 
         private:
           vtkOBJWriter(const vtkOBJWriter&);  // Not implemented.

modules/viz/src/vtk/vtkXYZReader.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#include "precomp.hpp"
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(vtkXYZReader);
+}}
+
+
+cv::viz::vtkXYZReader::vtkXYZReader()
+{
+    this->FileName = 0;
+    this->SetNumberOfInputPorts(0);
+}
+
+cv::viz::vtkXYZReader::~vtkXYZReader()
+{
+    this->SetFileName(0);
+}
+
+void cv::viz::vtkXYZReader::PrintSelf(ostream& os, vtkIndent indent)
+{
+    this->Superclass::PrintSelf(os,indent);
+    os << indent << "FileName: " << (this->FileName ? this->FileName : "(none)") << "\n";
+}
+
+int cv::viz::vtkXYZReader::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector* outputVector)
+{
+    // Make sure we have a file to read.
+    if(!this->FileName)
+    {
+        vtkErrorMacro("A FileName must be specified.");
+        return 0;
+    }
+
+    // Open the input file.
+    ifstream fin(this->FileName);
+    if(!fin)
+    {
+        vtkErrorMacro("Error opening file " << this->FileName);
+        return 0;
+    }
+
+    // Allocate objects to hold points and vertex cells.
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    vtkSmartPointer<vtkCellArray> verts = vtkSmartPointer<vtkCellArray>::New();
+
+    // Read points from the file.
+    vtkDebugMacro("Reading points from file " << this->FileName);
+    double x[3];
+    while(fin >> x[0] >> x[1] >> x[2])
+    {
+        vtkIdType id = points->InsertNextPoint(x);
+        verts->InsertNextCell(1, &id);
+    }
+    vtkDebugMacro("Read " << points->GetNumberOfPoints() << " points.");
+
+    // Store the points and cells in the output data object.
+    vtkPolyData* output = vtkPolyData::GetData(outputVector);
+    output->SetPoints(points);
+    output->SetVerts(verts);
+
+    return 1;
+}

modules/viz/src/vtk/vtkXYZReader.h

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef __vtkXYZReader_h
+#define __vtkXYZReader_h
+
+#include "vtkPolyDataAlgorithm.h"
+
+namespace cv
+{
+    namespace viz
+    {
+        class vtkXYZReader : public vtkPolyDataAlgorithm
+        {
+        public:
+          static vtkXYZReader* New();
+          vtkTypeMacro(vtkXYZReader,vtkPolyDataAlgorithm)
+          void PrintSelf(ostream& os, vtkIndent indent);
+
+          // Description:
+          // Set/Get the name of the file from which to read points.
+          vtkSetStringMacro(FileName)
+          vtkGetStringMacro(FileName)
+
+        protected:
+          vtkXYZReader();
+          ~vtkXYZReader();
+
+          char* FileName;
+
+          int RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector*);
+        private:
+          vtkXYZReader(const vtkXYZReader&);  // Not implemented.
+          void operator=(const vtkXYZReader&);  // Not implemented.
+        };
+    }
+}
+
+#endif

modules/viz/src/vtk/vtkXYZWriter.cpp

@@ -61,10 +61,22 @@ void cv::viz::vtkXYZWriter::WriteData()
     if (!input)
         return;
 
-    // OpenVTKFile() will report any errors that happen
-    ostream *outfilep = this->OpenVTKFile();
-    if (!outfilep)
+    if (!this->FileName )
+    {
+        vtkErrorMacro(<< "No FileName specified! Can't write!");
+        this->SetErrorCode(vtkErrorCode::NoFileNameError);
+        return;
+    }
+
+    vtkDebugMacro(<<"Opening vtk file for writing...");
+    ostream *outfilep = new ofstream(this->FileName, ios::out);
+    if (outfilep->fail())
+    {
+        vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
+        this->SetErrorCode(vtkErrorCode::CannotOpenFileError);
+        delete outfilep;
         return;
+    }
 
     ostream &outfile = *outfilep;
 
@@ -76,7 +88,8 @@ void cv::viz::vtkXYZWriter::WriteData()
     }
 
     // Close the file
-    this->CloseVTKFile(outfilep);
+    vtkDebugMacro(<<"Closing vtk file\n");
+    delete outfilep;
 
     // Delete the file if an error occurred
     if (this->ErrorCode == vtkErrorCode::OutOfDiskSpaceError)
@@ -86,8 +99,24 @@ void cv::viz::vtkXYZWriter::WriteData()
     }
 }
 
+int cv::viz::vtkXYZWriter::FillInputPortInformation(int, vtkInformation *info)
+{
+    info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
+    return 1;
+}
+
 void cv::viz::vtkXYZWriter::PrintSelf(ostream& os, vtkIndent indent)
 {
     this->Superclass::PrintSelf(os,indent);
     os << indent << "DecimalPrecision: " << this->DecimalPrecision << "\n";
 }
+
+vtkPolyData* cv::viz::vtkXYZWriter::GetInput()
+{
+    return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
+}
+
+vtkPolyData* cv::viz::vtkXYZWriter::GetInput(int port)
+{
+    return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
+}

modules/viz/src/vtk/vtkXYZWriter.h

@@ -45,29 +45,41 @@
 #ifndef __vtkXYZWriter_h
 #define __vtkXYZWriter_h
 
-#include "vtkPolyDataWriter.h"
+#include "vtkWriter.h"
 
 namespace cv
 {
     namespace viz
     {
-        class vtkXYZWriter : public vtkPolyDataWriter
+        class vtkXYZWriter : public vtkWriter
         {
         public:
             static vtkXYZWriter *New();
-            vtkTypeMacro(vtkXYZWriter,vtkPolyDataWriter)
+            vtkTypeMacro(vtkXYZWriter,vtkWriter)
             void PrintSelf(ostream& os, vtkIndent indent);
 
             vtkGetMacro(DecimalPrecision, int)
             vtkSetMacro(DecimalPrecision, int)
 
+            // Description:
+            // Specify file name of data file to write.
+            vtkSetStringMacro(FileName)
+            vtkGetStringMacro(FileName)
+
+            // Description:
+            // Get the input to this writer.
+            vtkPolyData* GetInput();
+            vtkPolyData* GetInput(int port);
+
         protected:
             vtkXYZWriter();
             ~vtkXYZWriter(){}
 
             void WriteData();
+            int FillInputPortInformation(int port, vtkInformation *info);
 
             int DecimalPrecision;
+            char *FileName;
 
         private:
             vtkXYZWriter(const vtkXYZWriter&);  // Not implemented.