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refactoring of copy_non_nans

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pull/1453/head
Anatoly Baksheev 12 years ago
parent da32ca4948
commit 1ae5918fa8
3 changed files with 69 additions and 68 deletions
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  1. 21
      modules/viz/include/opencv2/viz/types.hpp
  2. 42
      modules/viz/src/q/viz3d_impl.hpp

21
modules/viz/include/opencv2/viz/types.hpp
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@ -1,7 +1,6 @@
#pragma once
#include <vector>
#include <boost/concept_check.hpp>
#include <opencv2/core/cvdef.h>
#include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp>
@ -30,6 +29,8 @@ namespace temp_viz
typedef cv::Size Size;
typedef cv::Point Point;
typedef cv::InputArray InputArray;
using cv::Point3_;
using cv::Vec;
@ -90,17 +91,21 @@ namespace temp_viz
Vec3d operator*(const Affine3f& affine, const Vec3d& vec);
inline bool isNaN( float x )
inline bool isNan(float x)
{
unsigned int *u = (reinterpret_cast<unsigned int *>(&x));
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
}
inline bool isNaN( double x )
inline bool isNan(double x)
{
// Here u has two elements
unsigned int *u = (reinterpret_cast<unsigned int *>(&x));
return (u[1] & 0x7ff00000) == 0x7ff00000 &&
(u[0] != 0 || (u[1] & 0x000fffff) != 0);
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
}
template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
{ return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }
template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
}

42
modules/viz/src/q/viz3d_impl.hpp
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@ -447,10 +447,10 @@ void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<
void convertToEigenMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, Eigen::Matrix4f &m);
template<typename _Tp, typename _Ts, typename _Tc> inline int copy_non_nan_loop(_Tp *d, InputArray _s, InputArray _c)
template<typename _Tp, typename _Ts, typename _Tc> inline int copy_non_nan_loop(_Tp *d, const Mat& s, const Mat& c)
{
Mat s = _s.getMat();
Mat c = _c.getMat();
CV_Assert(s.size() == c.size());
int j = 0;
for(int y = 0; y < s.rows; ++y)
@ -458,24 +458,20 @@ template<typename _Tp, typename _Ts, typename _Tc> inline int copy_non_nan_loop(
const _Ts* srow = s.ptr<_Ts>(y);
const _Tc* crow = c.ptr<_Tc>(y);
for(int x = 0; x < s.cols; ++x)
if (!isNaN(crow[x][0]) && !isNaN(crow[x][1]) && !isNaN(crow[x][2]))
{
if (!isNan(crow[x]))
d[j++] = _Tp((srow[x])[0], (srow[x])[1], (srow[x])[2]);
}
}
return j;
}
/** \brief Assign a value to a variable if another variable is not NaN
* \param[in] d the destination variable
* \param[in] _s the source variable
* \param[in] _c the values to be controlled if NaN (can be different from _s)
* \param[in] s the source variable
* \param[in] c the values to be controlled if NaN (can be different from s)
* \param[out] j number of points that are copied
*/
template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArray _c)
template<typename _Tp> inline int copy_non_nans(_Tp *d, const Mat& s, const Mat& c)
{
Mat s = _s.getMat();
Mat c = _c.getMat();
CV_Assert(s.size() == c.size());
int j = 0;
@ -485,20 +481,20 @@ template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArra
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4d>(d,_s,_c); break;
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4d>(d, s, c); break;
}
}
else if (s.type() == CV_64FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4d>(d,_s,_c); break;
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4d>(d, s, c); break;
}
}
}
@ -506,10 +502,10 @@ template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArra
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4d>(d,_s,_c); break;
case CV_32FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4d>(d, s, c); break;
}
}
return j;

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