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normals support for CloudMatSource

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pull/2173/head
Anatoly Baksheev 11 years ago
parent 7e952e2f10
commit 1c4cfd8eaf
3 changed files with 116 additions and 48 deletions
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  1. 141
      modules/viz/src/vtk/vtkCloudMatSource.cpp
  2. 13
      modules/viz/src/vtk/vtkCloudMatSource.h
  3. 8
      modules/viz/test/test_viz3d.cpp

141
modules/viz/src/vtk/vtkCloudMatSource.cpp
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@ -48,47 +48,86 @@ namespace cv { namespace viz
{
vtkStandardNewMacro(vtkCloudMatSource);
struct IsNotNan
template<typename _Tp> bool isNan(const _Tp* data)
{
template<typename _Tp> bool operator()(const _Tp* data) const
{
return !isNan(data[0]) && !isNan(data[1]) && !isNan(data[2]);
return isNan(data[0]) || isNan(data[1]) || isNan(data[2]);
}
template<typename _Tp> struct VtkDepthTraits;
template<> struct VtkDepthTraits<float>
{
const static int data_type = VTK_FLOAT;
typedef vtkFloatArray array_type;
};
template<> struct VtkDepthTraits<double>
{
const static int data_type = VTK_DOUBLE;
typedef vtkDoubleArray array_type;
};
}}
cv::viz::vtkCloudMatSource::vtkCloudMatSource() { SetNumberOfInputPorts(0); }
cv::viz::vtkCloudMatSource::~vtkCloudMatSource() {}
void cv::viz::vtkCloudMatSource::SetCloud(const Mat& cloud)
int cv::viz::vtkCloudMatSource::SetCloud(const Mat& cloud)
{
CV_Assert(cloud.depth() == CV_32F || cloud.depth() == CV_64F);
CV_Assert(cloud.channels() == 3 || cloud.channels() == 4);
int total = cloud.depth() == CV_32F ? filterNanCopy<float >(cloud, VTK_FLOAT)
: filterNanCopy<double>(cloud, VTK_DOUBLE);
int total = cloud.depth() == CV_32F ? filterNanCopy<float>(cloud) : filterNanCopy<double>(cloud);
vertices = vtkSmartPointer<vtkCellArray>::New();
vertices->Allocate(vertices->EstimateSize(1, total));
vertices->InsertNextCell(total);
for(int i = 0; i < total; ++i)
vertices->InsertCellPoint(i);
return total;
}
void cv::viz::vtkCloudMatSource::SetColorCloud(const Mat &cloud, const Mat &colors)
int cv::viz::vtkCloudMatSource::SetColorCloud(const Mat &cloud, const Mat &colors)
{
vtkCloudMatSource::SetCloud(cloud);
int total = SetCloud(cloud);
if (colors.empty())
return;
return total;
CV_Assert(colors.depth() == CV_8U && colors.channels() <= 4 && colors.channels() != 2);
CV_Assert(colors.size() == cloud.size());
if (cloud.depth() == CV_32F)
filterNanColorsCopy<float, IsNotNan>(colors, cloud);
filterNanColorsCopy<float>(colors, cloud, total);
else if (cloud.depth() == CV_64F)
filterNanColorsCopy<double, IsNotNan>(colors, cloud);
filterNanColorsCopy<double>(colors, cloud, total);
return total;
}
int cv::viz::vtkCloudMatSource::SetColorCloudNormals(const Mat &cloud, const Mat &colors, const Mat &normals)
{
int total = SetColorCloud(cloud, colors);
if (normals.empty())
return total;
CV_Assert(normals.depth() == CV_32F || normals.depth() == CV_64F);
CV_Assert(normals.channels() == 3 || normals.channels() == 4);
CV_Assert(normals.size() == cloud.size());
if (normals.depth() == CV_32F && cloud.depth() == CV_32F)
filterNanNormalsCopy<float, float>(colors, cloud, total);
else if (normals.depth() == CV_32F && cloud.depth() == CV_64F)
filterNanNormalsCopy<float, double>(colors, cloud, total);
else if (normals.depth() == CV_64F && cloud.depth() == CV_32F)
filterNanNormalsCopy<double, float>(colors, cloud, total);
else if (normals.depth() == CV_64F && cloud.depth() == CV_64F)
filterNanNormalsCopy<double, double>(colors, cloud, total);
else
CV_Assert(!"Unsupported normals type");
return total;
}
int cv::viz::vtkCloudMatSource::RequestData(vtkInformation *vtkNotUsed(request), vtkInformationVector **vtkNotUsed(inputVector), vtkInformationVector *outputVector)
@ -100,27 +139,31 @@ int cv::viz::vtkCloudMatSource::RequestData(vtkInformation *vtkNotUsed(request),
output->SetVerts(vertices);
if (scalars)
output->GetPointData()->SetScalars(scalars);
if (normals)
output->GetPointData()->SetNormals(normals);
return 1;
}
template<typename _Tp>
int cv::viz::vtkCloudMatSource::filterNanCopy(const Mat& source, int dataType)
int cv::viz::vtkCloudMatSource::filterNanCopy(const Mat& cloud)
{
CV_DbgAssert(DataType<_Tp>::depth == source.depth());
CV_DbgAssert(DataType<_Tp>::depth == cloud.depth());
points = vtkSmartPointer<vtkPoints>::New();
points->SetDataType(dataType);
points->Allocate(source.total());
points->SetNumberOfPoints(source.total());
points->SetDataType(VtkDepthTraits<_Tp>::data_type);
points->Allocate(cloud.total());
points->SetNumberOfPoints(cloud.total());
int cn = source.channels();
int cn = cloud.channels();
int total = 0;
for (int y = 0; y < source.rows; ++y)
for (int y = 0; y < cloud.rows; ++y)
{
const _Tp* srow = source.ptr<_Tp>(y);
const _Tp* send = srow + source.cols * cn;
const _Tp* srow = cloud.ptr<_Tp>(y);
const _Tp* send = srow + cloud.cols * cn;
for (; srow != send; srow += cn)
if (!isNan(srow[0]) && !isNan(srow[1]) && !isNan(srow[2]))
if (!isNan(srow))
points->SetPoint(total++, srow);
}
points->SetNumberOfPoints(total);
@ -128,41 +171,33 @@ int cv::viz::vtkCloudMatSource::filterNanCopy(const Mat& source, int dataType)
return total;
}
template<typename _Msk, class _NanPred>
void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& colors, const Mat& mask)
template<typename _Msk>
void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total)
{
Mat buffer(colors.size(), CV_8UC3);
Vec3b* pos = buffer.ptr<Vec3b>();
Vec3b* array = new Vec3b[total];
Vec3b* pos = array;
int s_chs = colors.channels();
int s_chs = cloud_colors.channels();
int m_chs = mask.channels();
_NanPred pred;
for (int y = 0; y < colors.rows; ++y)
for (int y = 0; y < cloud_colors.rows; ++y)
{
const unsigned char* srow = colors.ptr<unsigned char>(y);
const unsigned char* send = srow + colors.cols * colors.channels();
const _Msk* mrow = mask.empty() ? 0 : mask.ptr<_Msk>(y);
const unsigned char* srow = cloud_colors.ptr<unsigned char>(y);
const unsigned char* send = srow + cloud_colors.cols * cloud_colors.channels();
const _Msk* mrow = mask.ptr<_Msk>(y);
if (colors.channels() == 1)
if (cloud_colors.channels() == 1)
{
for (; srow != send; srow += s_chs, mrow += m_chs)
if (pred(mrow))
if (!isNan(mrow))
*pos++ = Vec3b(srow[0], srow[0], srow[0]);
}
else
for (; srow != send; srow += s_chs, mrow += m_chs)
if (pred(mrow))
if (!isNan(mrow))
*pos++ = Vec3b(srow[2], srow[1], srow[0]);
}
int total = pos - buffer.ptr<Vec3b>();
Vec3b* array = new Vec3b[total];
std::copy(buffer.ptr<Vec3b>(), pos, array);
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
scalars->SetName("colors");
scalars->SetNumberOfComponents(3);
@ -170,4 +205,26 @@ void cv::viz::vtkCloudMatSource::filterNanColorsCopy(const Mat& colors, const Ma
scalars->SetArray(array->val, total * 3, 0);
}
template<typename _Tn, typename _Msk>
void cv::viz::vtkCloudMatSource::filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total)
{
normals = vtkSmartPointer< VtkDepthTraits<_Tn>::array_type >::New();
normals->SetNumberOfComponents(3);
normals->SetNumberOfTuples(total);
int s_chs = cloud_normals.channels();
int m_chs = mask.channels();
int pos = 0;
for (int y = 0; y < cloud_normals.rows; ++y)
{
const _Tn* srow = cloud_normals.ptr<_Tn>(y);
const _Tn* send = srow + cloud_normals.cols * s_chs;
const _Msk* mrow = mask.ptr<_Msk>(y);
for (; srow != send; srow += s_chs, mrow += m_chs)
if (!isNan(mrow))
normals->SetTuple(pos++, srow);
}
}

13
modules/viz/src/vtk/vtkCloudMatSource.h
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@ -61,8 +61,9 @@ namespace cv
static vtkCloudMatSource *New();
vtkTypeMacro(vtkCloudMatSource,vtkPolyDataAlgorithm);
virtual void SetCloud(const Mat& cloud);
virtual void SetColorCloud(const Mat &cloud, const Mat &colors = cv::Mat());
virtual int SetCloud(const Mat& cloud);
virtual int SetColorCloud(const Mat &cloud, const Mat &colors = cv::Mat());
virtual int SetColorCloudNormals(const Mat &cloud, const Mat &colors = cv::Mat(), const Mat &normals = cv::Mat());
protected:
vtkCloudMatSource();
@ -73,14 +74,16 @@ namespace cv
vtkSmartPointer<vtkPoints> points;
vtkSmartPointer<vtkCellArray> vertices;
vtkSmartPointer<vtkUnsignedCharArray> scalars;
vtkSmartPointer<vtkDataArray> normals;
private:
vtkCloudMatSource(const vtkCloudMatSource&); // Not implemented.
void operator=(const vtkCloudMatSource&); // Not implemented.
template<typename _Tp> int filterNanCopy(const Mat& source, int dataType);
template<typename _Tp> int filterNanCopy(const Mat& cloud);
template<typename _Msk> void filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total);
template<typename _Msk, class _NanPred>
void filterNanColorsCopy(const Mat& colors, const Mat& mask);
template<typename _Tn, typename _Msk>
void filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total);
};
}
}

8
modules/viz/test/test_viz3d.cpp
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@ -49,6 +49,14 @@ TEST(Viz_viz3d, develop)
cv::Mat cloud = cv::viz::readCloud(String(cvtest::TS::ptr()->get_data_path()) + "dragon.ply");
// for(size_t i = 0; i < cloud.total(); ++i)
// {
// if (i % 15 == 0)
// continue;
// const static float qnan = std::numeric_limits<float>::quiet_NaN();
// cloud.at<Vec3f>(i) = Vec3f(qnan, qnan, qnan);
// }
cv::viz::Viz3d viz("abc");
viz.showWidget("coo", cv::viz::WCoordinateSystem());

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