opencv/modules/viz/src/viz.cpp

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// Authors:
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//  OpenCV Viz module is complete rewrite of
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#include "precomp.hpp"

cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin)
{
    Affine3f::Mat3 R(axis_x[0], axis_y[0], axis_z[0],
                     axis_x[1], axis_y[1], axis_z[1],
                     axis_x[2], axis_y[2], axis_z[2]);

    return Affine3f(R, origin);
}

cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
{
    // Compute the transformation matrix for drawing the camera frame in a scene
    Vec3f n = normalize(focal_point - position);
    Vec3f u = normalize(y_dir.cross(n));
    Vec3f v = n.cross(u);

    return makeTransformToGlobal(u, v, n, position);
}

vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix(const cv::Matx44f &m)
{
    vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
    for (int i = 0; i < 4; i++)
        for (int k = 0; k < 4; k++)
            vtk_matrix->SetElement(i, k, m(i, k));
    return vtk_matrix;
}

cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
{
    cv::Matx44f m;
    for (int i = 0; i < 4; i++)
        for (int k = 0; k < 4; k++)
            m(i, k) = vtk_matrix->GetElement(i, k);
    return m;
}

namespace cv { namespace viz
{
    template<typename _Tp> Vec<_Tp, 3>* vtkpoints_data(vtkSmartPointer<vtkPoints>& points);

    template<> Vec3f* vtkpoints_data<float>(vtkSmartPointer<vtkPoints>& points)
    {
        CV_Assert(points->GetDataType() == VTK_FLOAT);
        vtkDataArray *data = points->GetData();
        float *pointer = static_cast<vtkFloatArray*>(data)->GetPointer(0);
        return reinterpret_cast<Vec3f*>(pointer);
    }

    template<> Vec3d* vtkpoints_data<double>(vtkSmartPointer<vtkPoints>& points)
    {
        CV_Assert(points->GetDataType() == VTK_DOUBLE);
        vtkDataArray *data = points->GetData();
        double *pointer = static_cast<vtkDoubleArray*>(data)->GetPointer(0);
        return reinterpret_cast<Vec3d*>(pointer);
    }
}}

///////////////////////////////////////////////////////////////////////////////////////////////
/// VizStorage implementation

cv::viz::VizMap cv::viz::VizStorage::storage;
void cv::viz::VizStorage::unregisterAll() { storage.clear(); }

cv::viz::Viz3d& cv::viz::VizStorage::get(const String &window_name)
{
    String name = generateWindowName(window_name);
    VizMap::iterator vm_itr = storage.find(name);
    CV_Assert(vm_itr != storage.end());
    return vm_itr->second;
}

void cv::viz::VizStorage::add(const Viz3d& window)
{
    String window_name = window.getWindowName();
    VizMap::iterator vm_itr = storage.find(window_name);
    CV_Assert(vm_itr == storage.end());
    storage.insert(std::make_pair(window_name, window));
}

bool cv::viz::VizStorage::windowExists(const String &window_name)
{
    String name = generateWindowName(window_name);
    return storage.find(name) != storage.end();
}

void cv::viz::VizStorage::removeUnreferenced()
{
    for(VizMap::iterator pos = storage.begin(); pos != storage.end();)
        if(pos->second.impl_->ref_counter == 1)
            storage.erase(pos++);
        else
            ++pos;
}

cv::String cv::viz::VizStorage::generateWindowName(const String &window_name)
{
    String output = "Viz";
    // Already is Viz
    if (window_name == output)
        return output;

    String prefixed = output + " - ";
    if (window_name.substr(0, prefixed.length()) == prefixed)
        output = window_name; // Already has "Viz - "
    else if (window_name.substr(0, output.length()) == output)
        output = prefixed + window_name; // Doesn't have prefix
    else
        output = (window_name == "" ? output : prefixed + window_name);

    return output;
}

cv::viz::Viz3d cv::viz::get(const String &window_name) { return Viz3d (window_name); }
void cv::viz::unregisterAllWindows() { VizStorage::unregisterAll(); }