/*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: // * Ozan Tonkal, ozantonkal@gmail.com // * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com // //M*/ #ifndef __OPENCV_VIZ_PRECOMP_HPP__ #define __OPENCV_VIZ_PRECOMP_HPP__ #include <map> #include <ctime> #include <list> #include <vector> #include <iomanip> #include <limits> #include <vtkAppendPolyData.h> #include <vtkAssemblyPath.h> #include <vtkCellData.h> #include <vtkLineSource.h> #include <vtkPropPicker.h> #include <vtkSmartPointer.h> #include <vtkDataSet.h> #include <vtkPolygon.h> #include <vtkUnstructuredGrid.h> #include <vtkDiskSource.h> #include <vtkPlaneSource.h> #include <vtkSphereSource.h> #include <vtkArrowSource.h> #include <vtkOutlineSource.h> #include <vtkTransform.h> #include <vtkTransformPolyDataFilter.h> #include <vtkTubeFilter.h> #include <vtkCubeSource.h> #include <vtkAxes.h> #include <vtkFloatArray.h> #include <vtkDoubleArray.h> #include <vtkPointData.h> #include <vtkPolyData.h> #include <vtkPolyDataMapper.h> #include <vtkDataSetMapper.h> #include <vtkCellArray.h> #include <vtkCommand.h> #include <vtkPLYReader.h> #include <vtkPolyLine.h> #include <vtkVectorText.h> #include <vtkFollower.h> #include <vtkInteractorStyle.h> #include <vtkUnsignedCharArray.h> #include <vtkRendererCollection.h> #include <vtkPNGWriter.h> #include <vtkWindowToImageFilter.h> #include <vtkInteractorStyleTrackballCamera.h> #include <vtkProperty.h> #include <vtkCamera.h> #include <vtkPlanes.h> #include <vtkImageFlip.h> #include <vtkRenderWindow.h> #include <vtkTextProperty.h> #include <vtkProperty2D.h> #include <vtkLODActor.h> #include <vtkActor.h> #include <vtkTextActor.h> #include <vtkRenderWindowInteractor.h> #include <vtkMath.h> #include <vtkExtractEdges.h> #include <vtkFrustumSource.h> #include <vtkTextureMapToPlane.h> #include <vtkPolyDataNormals.h> #include <vtkAlgorithmOutput.h> #include <vtkImageMapper.h> #include <vtkPoints.h> #include <vtkInformation.h> #include <vtkInformationVector.h> #include <vtkObjectFactory.h> #include <vtkPolyDataAlgorithm.h> #include <vtkMergeFilter.h> #include <vtkErrorCode.h> #include <vtkPLYWriter.h> #include <vtkSTLWriter.h> #include <vtkPLYReader.h> #include <vtkOBJReader.h> #include <vtkSTLReader.h> #include <vtkPNGReader.h> #include <vtkOBJExporter.h> #include <vtkVRMLExporter.h> #include <vtkTensorGlyph.h> #include <vtkImageAlgorithm.h> #include <vtkTransformFilter.h> #include <vtkConeSource.h> #include <vtkElevationFilter.h> #include <vtkColorTransferFunction.h> #include <vtkStreamingDemandDrivenPipeline.h> #include <vtkLight.h> #include "vtkCallbackCommand.h" #if !defined(_WIN32) || defined(__CYGWIN__) # include <unistd.h> /* unlink */ #else # include <io.h> /* unlink */ #endif #include <vtk/vtkOBJWriter.h> #include <vtk/vtkXYZWriter.h> #include <vtk/vtkXYZReader.h> #include <vtk/vtkCloudMatSink.h> #include <vtk/vtkCloudMatSource.h> #include <vtk/vtkTrajectorySource.h> #include <vtk/vtkImageMatSource.h> #include <opencv2/core.hpp> #include <opencv2/viz.hpp> #include <opencv2/viz/widget_accessor.hpp> #include <opencv2/core/utility.hpp> namespace cv { namespace viz { typedef std::map<String, vtkSmartPointer<vtkProp> > WidgetActorMap; struct VizMap { typedef std::map<String, Viz3d> type; typedef type::iterator iterator; type m; ~VizMap(); void replace_clear(); }; class VizStorage { public: static void unregisterAll(); //! window names automatically have Viz - prefix even though not provided by the users static String generateWindowName(const String &window_name); private: VizStorage(); // Static static void add(const Viz3d& window); static Viz3d& get(const String &window_name); static void remove(const String &window_name); static bool windowExists(const String &window_name); static void removeUnreferenced(); static VizMap storage; friend class Viz3d; static VizStorage init; }; template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/norm(v); } template<typename _Tp> inline bool isNan(const _Tp* data) { return isNan(data[0]) || isNan(data[1]) || isNan(data[2]); } inline vtkSmartPointer<vtkActor> getActor(const Widget3D& widget) { return vtkActor::SafeDownCast(WidgetAccessor::getProp(widget)); } inline vtkSmartPointer<vtkPolyData> getPolyData(const Widget3D& widget) { vtkSmartPointer<vtkMapper> mapper = getActor(widget)->GetMapper(); return vtkPolyData::SafeDownCast(mapper->GetInput()); } inline vtkSmartPointer<vtkMatrix4x4> vtkmatrix(const cv::Matx44d &matrix) { vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New(); vtk_matrix->DeepCopy(matrix.val); return vtk_matrix; } inline Color vtkcolor(const Color& color) { Color scaled_color = color * (1.0/255.0); std::swap(scaled_color[0], scaled_color[2]); return scaled_color; } inline Vec3d get_random_vec(double from = -10.0, double to = 10.0) { RNG& rng = theRNG(); return Vec3d(rng.uniform(from, to), rng.uniform(from, to), rng.uniform(from, to)); } struct VtkUtils { template<class Filter> static void SetInputData(vtkSmartPointer<Filter> filter, vtkPolyData* polydata) { #if VTK_MAJOR_VERSION <= 5 filter->SetInput(polydata); #else 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) { #if VTK_MAJOR_VERSION <= 5 filter->AddInput(polydata); #else filter->AddInputData(polydata); #endif } static vtkSmartPointer<vtkUnsignedCharArray> FillScalars(size_t size, const Color& color) { Vec3b rgb = Vec3d(color[2], color[1], color[0]); Vec3b* color_data = new Vec3b[size]; std::fill(color_data, color_data + size, rgb); vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New(); scalars->SetName("Colors"); scalars->SetNumberOfComponents(3); scalars->SetNumberOfTuples((vtkIdType)size); scalars->SetArray(color_data->val, (vtkIdType)(size * 3), 0); return scalars; } static vtkSmartPointer<vtkPolyData> FillScalars(vtkSmartPointer<vtkPolyData> polydata, const Color& color) { return polydata->GetPointData()->SetScalars(FillScalars(polydata->GetNumberOfPoints(), color)), polydata; } static vtkSmartPointer<vtkPolyData> ComputeNormals(vtkSmartPointer<vtkPolyData> polydata) { vtkSmartPointer<vtkPolyDataNormals> normals_generator = vtkSmartPointer<vtkPolyDataNormals>::New(); normals_generator->ComputePointNormalsOn(); normals_generator->ComputeCellNormalsOff(); normals_generator->SetFeatureAngle(0.1); normals_generator->SetSplitting(0); normals_generator->SetConsistency(1); normals_generator->SetAutoOrientNormals(0); normals_generator->SetFlipNormals(0); normals_generator->SetNonManifoldTraversal(1); VtkUtils::SetInputData(normals_generator, polydata); normals_generator->Update(); return normals_generator->GetOutput(); } static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkAlgorithmOutput> algorithm_output_port, const Affine3d& pose) { vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New(); transform->SetMatrix(vtkmatrix(pose.matrix)); vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New(); transform_filter->SetTransform(transform); transform_filter->SetInputConnection(algorithm_output_port); transform_filter->Update(); return transform_filter->GetOutput(); } static vtkSmartPointer<vtkPolyData> TransformPolydata(vtkSmartPointer<vtkPolyData> polydata, const Affine3d& 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(); } }; vtkSmartPointer<vtkRenderWindowInteractor> vtkCocoaRenderWindowInteractorNew(); } } #include "vtk/vtkVizInteractorStyle.hpp" #include "vizimpl.hpp" #endif