cloud collection finalize

modules/viz/doc/widget.rst

@@ -934,6 +934,8 @@ This 3D Widget defines a collection of clouds. ::
         void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
         //! All points in cloud have the same color
         void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity());
+        //! Repacks internal structure to sinle cloud
+        void finalize();
     };
 
 viz::WCloudCollection::WCloudCollection
@@ -964,6 +966,12 @@ Adds a cloud to the collection.
 
 .. note:: In case there are four channels in the cloud, fourth channel is ignored.
 
+viz::WCloudCollection::finalize
+-------------------------------
+Finalizes cloud data by repacking to single cloud. Useful for large cloud collections to reduce memory usage
+
+.. ocv:function:: void finalize()
+
 viz::WCloudNormals
 ------------------
 .. ocv:class:: WCloudNormals

modules/viz/include/opencv2/viz/widgets.hpp

@@ -345,6 +345,8 @@ namespace cv
             void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
             //! All points in cloud have the same color
             void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity());
+            //! Repacks internal structure to sinle cloud
+            void finalize();
         };
 
         class CV_EXPORTS WCloudNormals : public Widget3D

modules/viz/src/clouds.cpp

@@ -242,6 +242,24 @@ void cv::viz::WCloudCollection::addCloud(InputArray cloud, const Color &color, c
     addCloud(cloud, Mat(cloud.size(), CV_8UC3, color), pose);
 }
 
+void cv::viz::WCloudCollection::finalize()
+{
+    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert("Incompatible widget type." && actor);
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
+    CV_Assert("Need to add at least one cloud." && mapper);
+
+    vtkSmartPointer<vtkAlgorithm> producer = mapper->GetInputConnection(0, 0)->GetProducer();
+    vtkSmartPointer<vtkAppendPolyData> append_filter = vtkAppendPolyData::SafeDownCast(producer);
+    append_filter->Update();
+
+    vtkSmartPointer<vtkPolyData> polydata = append_filter->GetOutput();
+    mapper->RemoveInputConnection(0, 0);
+    VtkUtils::SetInputData(mapper, polydata);
+    mapper->Modified();
+}
+
 template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>()
 {
     Widget3D widget = this->cast<Widget3D>();

modules/viz/test/tests_simple.cpp

@@ -103,6 +103,7 @@ TEST(Viz, show_cloud_collection)
     ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0)));
     ccol.addCloud(cloud, Color::blue(),  Affine3d().translate(Vec3d(1, 0, 0)));
     ccol.addCloud(cloud, Color::red(),   Affine3d().translate(Vec3d(2, 0, 0)));
+    ccol.finalize();
 
     Viz3d viz("show_cloud_collection");
     viz.setBackgroundColor(Color::mlab());