root/modules/viz/src/vizimpl.cpp

DEFINITIONS

1. widget_actor_map_
2. Execute
3. Execute
4. wasStopped
5. close
6. recreateRenderWindow
7. spin
8. spinOnce
9. showWidget
10. removeWidget
11. getWidget
12. setWidgetPose
13. updateWidgetPose
14. getWidgetPose
15. saveScreenshot
16. registerMouseCallback
17. registerKeyboardCallback
18. removeAllWidgets
19. showImage
20. removeActorFromRenderer
21. setBackgroundColor
22. setBackgroundMeshLab
23. setBackgroundTexture
24. setCamera
25. getCamera
26. setViewerPose
27. getViewerPose
28. convertToWindowCoordinates
29. converTo3DRay
30. resetCameraViewpoint
31. resetCamera
32. setRepresentation
33. getWindowName
34. setFullScreen
35. setWindowPosition
36. setWindowSize
37. getWindowSize

/*M///////////////////////////////////////////////////////////////////////////////////////
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//                           License Agreement
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//M*/

#include "precomp.hpp"


/////////////////////////////////////////////////////////////////////////////////////////////
cv::viz::Viz3d::VizImpl::VizImpl(const String &name) : spin_once_state_(false),
    window_position_(Vec2i(std::numeric_limits<int>::min())), widget_actor_map_(new WidgetActorMap)
{
    renderer_ = vtkSmartPointer<vtkRenderer>::New();
    window_name_ = VizStorage::generateWindowName(name);

    // Create render window
    window_ = vtkSmartPointer<vtkRenderWindow>::New();
    cv::Vec2i window_size = cv::Vec2i(window_->GetScreenSize()) / 2;
    window_->SetSize(window_size.val);
    window_->AddRenderer(renderer_);

    // Create the interactor style
    style_ = vtkSmartPointer<vtkVizInteractorStyle>::New();
    style_->setWidgetActorMap(widget_actor_map_);
    style_->UseTimersOn();

    timer_callback_ = vtkSmartPointer<TimerCallback>::New();
    exit_callback_ = vtkSmartPointer<ExitCallback>::New();
    exit_callback_->viz = this;

    setBackgroundMeshLab();
}

cv::viz::Viz3d::VizImpl::~VizImpl() { close(); }

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::TimerCallback::Execute(vtkObject* caller, unsigned long event_id, void* cookie)
{
    if (event_id == vtkCommand::TimerEvent && timer_id == *reinterpret_cast<int*>(cookie))
    {
        vtkSmartPointer<vtkRenderWindowInteractor> interactor = vtkRenderWindowInteractor::SafeDownCast(caller);
        interactor->TerminateApp();
    }
}

void cv::viz::Viz3d::VizImpl::ExitCallback::Execute(vtkObject*, unsigned long event_id, void*)
{
    if (event_id == vtkCommand::ExitEvent && viz->interactor_)
    {
        viz->interactor_->TerminateApp();
        viz->interactor_ = 0;
    }
}

/////////////////////////////////////////////////////////////////////////////////////////////

bool cv::viz::Viz3d::VizImpl::wasStopped() const
{
    bool stopped = spin_once_state_ ? interactor_ == 0 : false;
    spin_once_state_ &= !stopped;
    return stopped;
}

void cv::viz::Viz3d::VizImpl::close()
{
    if (!interactor_)
        return;
    interactor_->GetRenderWindow()->Finalize();
    interactor_->TerminateApp(); // This tends to close the window...
    interactor_ = 0;
}

void cv::viz::Viz3d::VizImpl::recreateRenderWindow()
{
#if !defined _MSC_VER && !defined __APPLE__
    //recreating is workaround for Ubuntu -- a crash in x-server
    Vec2i window_size(window_->GetSize());
    int fullscreen = window_->GetFullScreen();

    window_->Finalize();
    window_ = vtkSmartPointer<vtkRenderWindow>::New();
    if (window_position_[0] != std::numeric_limits<int>::min()) //also workaround
        window_->SetPosition(window_position_.val);

    window_->SetSize(window_size.val);
    window_->SetFullScreen(fullscreen);
    window_->AddRenderer(renderer_);
#endif
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::spin()
{
    recreateRenderWindow();
#if defined __APPLE__
    interactor_ = vtkCocoaRenderWindowInteractorNew();
#else
    interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New();
#endif
    interactor_->SetRenderWindow(window_);
    interactor_->SetInteractorStyle(style_);
    window_->AlphaBitPlanesOff();
    window_->PointSmoothingOff();
    window_->LineSmoothingOff();
    window_->PolygonSmoothingOff();
    window_->SwapBuffersOn();
    window_->SetStereoTypeToAnaglyph();
    window_->Render();
    window_->SetWindowName(window_name_.c_str());
    interactor_->Start();
    interactor_ = 0;
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::spinOnce(int time, bool force_redraw)
{
    if (interactor_ == 0)
    {
        spin_once_state_ = true;
        recreateRenderWindow();
#if defined __APPLE__
        interactor_ = vtkCocoaRenderWindowInteractorNew();
#else
        interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New();
#endif
        interactor_->SetRenderWindow(window_);
        interactor_->SetInteractorStyle(style_);
        interactor_->AddObserver(vtkCommand::TimerEvent, timer_callback_);
        interactor_->AddObserver(vtkCommand::ExitEvent, exit_callback_);
        window_->AlphaBitPlanesOff();
        window_->PointSmoothingOff();
        window_->LineSmoothingOff();
        window_->PolygonSmoothingOff();
        window_->SwapBuffersOn();
        window_->SetStereoTypeToAnaglyph();
        window_->Render();
        window_->SetWindowName(window_name_.c_str());
    }

    vtkSmartPointer<vtkRenderWindowInteractor> local = interactor_;

    if (force_redraw)
        local->Render();

    timer_callback_->timer_id = local->CreateRepeatingTimer(std::max(1, time));
    local->Start();
    local->DestroyTimer(timer_callback_->timer_id);
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget, const Affine3d &pose)
{
    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
    bool exists = wam_itr != widget_actor_map_->end();
    if (exists)
    {
        // Remove it if it exists and add it again
        removeActorFromRenderer(wam_itr->second);
    }
    // Get the actor and set the user matrix
    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(widget));
    if (actor)
    {
        // If the actor is 3D, apply pose
        vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
        actor->SetUserMatrix(matrix);
        actor->Modified();
    }
    // If the actor is a vtkFollower, then it should always face the camera
    vtkFollower *follower = vtkFollower::SafeDownCast(actor);
    if (follower)
    {
        follower->SetCamera(renderer_->GetActiveCamera());
    }

    renderer_->AddActor(WidgetAccessor::getProp(widget));
    (*widget_actor_map_)[id] = WidgetAccessor::getProp(widget);
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::removeWidget(const String &id)
{
    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
    bool exists = wam_itr != widget_actor_map_->end();
    CV_Assert("Widget does not exist." && exists);
    CV_Assert("Widget could not be removed." && removeActorFromRenderer(wam_itr->second));
    widget_actor_map_->erase(wam_itr);
}

/////////////////////////////////////////////////////////////////////////////////////////////
cv::viz::Widget cv::viz::Viz3d::VizImpl::getWidget(const String &id) const
{
    WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
    bool exists = wam_itr != widget_actor_map_->end();
    CV_Assert("Widget does not exist." && exists);

    Widget widget;
    WidgetAccessor::setProp(widget, wam_itr->second);
    return widget;
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3d &pose)
{
    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
    bool exists = wam_itr != widget_actor_map_->end();
    CV_Assert("Widget does not exist." && exists);

    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
    CV_Assert("Widget is not 3D." && actor);

    vtkSmartPointer<vtkMatrix4x4> matrix = vtkmatrix(pose.matrix);
    actor->SetUserMatrix(matrix);
    actor->Modified();
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3d &pose)
{
    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
    bool exists = wam_itr != widget_actor_map_->end();
    CV_Assert("Widget does not exist." && exists);

    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
    CV_Assert("Widget is not 3D." && actor);

    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
    if (!matrix)
    {
        setWidgetPose(id, pose);
        return ;
    }
    Affine3d updated_pose = pose * Affine3d(*matrix->Element);
    matrix = vtkmatrix(updated_pose.matrix);

    actor->SetUserMatrix(matrix);
    actor->Modified();
}

/////////////////////////////////////////////////////////////////////////////////////////////
cv::Affine3d cv::viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
{
    WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
    bool exists = wam_itr != widget_actor_map_->end();
    CV_Assert("Widget does not exist." && exists);

    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
    CV_Assert("Widget is not 3D." && actor);

    return Affine3d(*actor->GetUserMatrix()->Element);
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::saveScreenshot(const String &file) { style_->saveScreenshot(file.c_str()); }

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::registerMouseCallback(MouseCallback callback, void* cookie)
{ style_->registerMouseCallback(callback, cookie); }

void cv::viz::Viz3d::VizImpl::registerKeyboardCallback(KeyboardCallback callback, void* cookie)
{ style_->registerKeyboardCallback(callback, cookie); }


//////////////////////////////////////////////////////////////////////////////////////////
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)
{
    vtkPropCollection* actors = renderer_->GetViewProps();
    actors->InitTraversal();
    vtkProp* current_actor = NULL;
    while ((current_actor = actors->GetNextProp()) != NULL)
        if (current_actor == actor)
        {
            renderer_->RemoveActor(actor);
            return true;
        }
    return false;
}

//////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color, const Color& color2)
{
    Color c = vtkcolor(color), c2 = vtkcolor(color2);
    bool gradient = color2[0] >= 0 && color2[1] >= 0 && color2[2] >= 0;

    if (gradient)
    {
        renderer_->SetBackground(c2.val);
        renderer_->SetBackground2(c.val);
        renderer_->GradientBackgroundOn();
    }
    else
    {
        renderer_->SetBackground(c.val);
        renderer_->GradientBackgroundOff();
    }
}

void cv::viz::Viz3d::VizImpl::setBackgroundMeshLab()
{ setBackgroundColor(Color(2, 1, 1), Color(240, 120, 120)); }

//////////////////////////////////////////////////////////////////////////////////////////////
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::setCamera(const Camera &camera)
{
    vtkSmartPointer<vtkCamera> active_camera = renderer_->GetActiveCamera();

    // Set the intrinsic parameters of the camera
    window_->SetSize(camera.getWindowSize().width, camera.getWindowSize().height);
    double aspect_ratio = static_cast<double>(camera.getWindowSize().width)/static_cast<double>(camera.getWindowSize().height);

    Matx44d proj_mat;
    camera.computeProjectionMatrix(proj_mat);

    // Use the intrinsic parameters of the camera to simulate more realistically
    vtkSmartPointer<vtkMatrix4x4> vtk_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0, 1.0);
    Matx44d old_proj_mat(*vtk_matrix->Element);

    // This is a hack around not being able to set Projection Matrix
    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
    transform->SetMatrix(vtkmatrix(proj_mat * old_proj_mat.inv()));
    active_camera->SetUserTransform(transform);

    renderer_->ResetCameraClippingRange();
    renderer_->Render();
}

/////////////////////////////////////////////////////////////////////////////////////////////
cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
{
    vtkSmartPointer<vtkCamera> active_camera = renderer_->GetActiveCamera();

    Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
                     renderer_->GetRenderWindow()->GetSize()[1]);
    double aspect_ratio = window_size.width / (double)window_size.height;

    vtkSmartPointer<vtkMatrix4x4> proj_matrix = active_camera->GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f);
    return Camera(Matx44d(*proj_matrix->Element), window_size);
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3d &pose)
{
    vtkCamera& camera = *renderer_->GetActiveCamera();

    // Position = extrinsic translation
    cv::Vec3d pos_vec = pose.translation();

    // Rotate the view vector
    cv::Matx33d rotation = pose.rotation();
    cv::Vec3d y_axis(0.0, -1.0, 0.0); // In Computer Vision Camera Y-axis is oriented down
    cv::Vec3d up_vec(rotation * y_axis);

    // Compute the new focal point
    cv::Vec3d z_axis(0.0, 0.0, 1.0);
    cv::Vec3d focal_vec = pose * z_axis;

    camera.SetPosition(pos_vec.val);
    camera.SetFocalPoint(focal_vec.val);
    camera.SetViewUp(up_vec.val);

    renderer_->ResetCameraClippingRange();
}

/////////////////////////////////////////////////////////////////////////////////////////////
cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose()
{
    vtkCamera& camera = *renderer_->GetActiveCamera();

    Vec3d pos(camera.GetPosition());
    Vec3d view_up(camera.GetViewUp());
    Vec3d focal(camera.GetFocalPoint());

    Vec3d y_axis = normalized(-view_up); // In Computer Vision Camera Y-axis is oriented down
    Vec3d z_axis = normalized(focal - pos);
    Vec3d x_axis = normalized(y_axis.cross(z_axis));

    return makeTransformToGlobal(x_axis, y_axis, z_axis, pos);
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
{
    Vec3d window_pt;
    vtkInteractorObserver::ComputeWorldToDisplay(renderer_, pt.x, pt.y, pt.z, window_pt.val);
    window_coord = window_pt;
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
{
    Vec4d world_pt;
    vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val);
    Vec3d cam_pos(renderer_->GetActiveCamera()->GetPosition());
    origin = cam_pos;
    direction = normalize(Vec3d(world_pt.val) - cam_pos);
}

/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::resetCameraViewpoint(const String &id)
{
    vtkSmartPointer<vtkMatrix4x4> camera_pose;
    static WidgetActorMap::iterator it = widget_actor_map_->find(id);
    if (it != widget_actor_map_->end())
    {
        vtkProp3D *actor = vtkProp3D::SafeDownCast(it->second);
        CV_Assert("Widget is not 3D." && actor);
        camera_pose = actor->GetUserMatrix();
    }
    else
        return;

    // Prevent a segfault
    if (!camera_pose) return;

    vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera();
    cam->SetPosition(camera_pose->GetElement(0, 3),
                     camera_pose->GetElement(1, 3),
                     camera_pose->GetElement(2, 3));

    cam->SetFocalPoint(camera_pose->GetElement(0, 3) - camera_pose->GetElement(0, 2),
                       camera_pose->GetElement(1, 3) - camera_pose->GetElement(1, 2),
                       camera_pose->GetElement(2, 3) - camera_pose->GetElement(2, 2));

    cam->SetViewUp(camera_pose->GetElement(0, 1),
                   camera_pose->GetElement(1, 1),
                   camera_pose->GetElement(2, 1));

    renderer_->SetActiveCamera(cam);
    renderer_->ResetCameraClippingRange();
    renderer_->Render();
}

///////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::resetCamera()
{
    renderer_->ResetCamera();
}

///////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setRepresentation(int representation)
{
    vtkActorCollection * actors = renderer_->GetActors();
    actors->InitTraversal();
    vtkActor * actor;
    switch (representation)
    {
        case REPRESENTATION_POINTS:
        {
            while ((actor = actors->GetNextActor()) != NULL)
                actor->GetProperty()->SetRepresentationToPoints();
            break;
        }
        case REPRESENTATION_SURFACE:
        {
            while ((actor = actors->GetNextActor()) != NULL)
                actor->GetProperty()->SetRepresentationToSurface();
            break;
        }
        case REPRESENTATION_WIREFRAME:
        {
            while ((actor = actors->GetNextActor()) != NULL)
                actor->GetProperty()->SetRepresentationToWireframe();
            break;
        }
    }
}

//////////////////////////////////////////////////////////////////////////////////////////////
cv::String cv::viz::Viz3d::VizImpl::getWindowName() const { return window_name_; }
void cv::viz::Viz3d::VizImpl::setFullScreen(bool mode) { window_->SetFullScreen(mode); }
void cv::viz::Viz3d::VizImpl::setWindowPosition(const Point& position) { window_position_ = position; window_->SetPosition(position.x, position.y); }
void cv::viz::Viz3d::VizImpl::setWindowSize(const Size& window_size) { window_->SetSize(window_size.width, window_size.height); }
cv::Size cv::viz::Viz3d::VizImpl::getWindowSize() const { return Size(Point(Vec2i(window_->GetSize()))); }