mirror of https://github.com/opencv/opencv.git
Anatoly Baksheev
11 years ago
parent
1c4cfd8eaf
commit
c1b41caa7c
7 changed files with 233 additions and 53 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#include "precomp.hpp" |
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namespace cv { namespace viz |
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{ |
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vtkStandardNewMacro(vtkCloudMatSink); |
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}} |
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cv::viz::vtkCloudMatSink::vtkCloudMatSink() {} |
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cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {} |
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void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals) |
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{ |
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cloud = _cloud; |
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colors = _colors; |
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normals = _normals; |
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} |
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void cv::viz::vtkCloudMatSink::WriteData() |
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{ |
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vtkPolyData *input = this->GetInput(); |
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if (!input) |
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return; |
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vtkSmartPointer<vtkPoints> points_Data = input->GetPoints(); |
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if (cloud.needed() && points_Data) |
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{ |
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int vtktype = points_Data->GetDataType(); |
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CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE); |
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cloud.create(1, points_Data->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3); |
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Vec3d *ddata = (Vec3d*)cloud.getMat().ptr(); |
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Vec3f *fdata = (Vec3f*)cloud.getMat().ptr(); |
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if (cloud.depth() == CV_32F) |
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for(size_t i = 0; i < cloud.total(); ++i) |
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*fdata++ = Vec3d(points_Data->GetPoint(i)); |
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if (cloud.depth() == CV_64F) |
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for(size_t i = 0; i < cloud.total(); ++i) |
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*ddata++ = Vec3d(points_Data->GetPoint(i)); |
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} |
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else |
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cloud.release(); |
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vtkSmartPointer<vtkDataArray> scalars_data = input->GetPointData() ? input->GetPointData()->GetScalars() : 0; |
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if (colors.needed() && scalars_data) |
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{ |
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int channels = scalars_data->GetNumberOfComponents(); |
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int vtktype = scalars_data->GetDataType(); |
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CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented"); |
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CV_Assert(cloud.total() == (size_t)scalars_data->GetNumberOfTuples()); |
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Mat buffer(cloud.size(), CV_64FC(channels)); |
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Vec3d *cptr = buffer.ptr<Vec3d>(); |
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for(size_t i = 0; i < buffer.total(); ++i) |
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*cptr++ = Vec3d(scalars_data->GetTuple(i)); |
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buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ? 255.0 : 1.0); |
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} |
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else |
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colors.release(); |
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vtkSmartPointer<vtkDataArray> normals_data = input->GetPointData() ? input->GetPointData()->GetNormals() : 0; |
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if (normals.needed() && normals_data) |
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{ |
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int channels = normals_data->GetNumberOfComponents(); |
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int vtktype = normals_data->GetDataType(); |
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CV_Assert((vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE) && (channels == 3 || channels == 4)); |
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CV_Assert(cloud.total() == (size_t)normals_data->GetNumberOfTuples()); |
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Mat buffer(cloud.size(), CV_64FC(channels)); |
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Vec3d *cptr = buffer.ptr<Vec3d>(); |
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for(size_t i = 0; i < buffer.total(); ++i) |
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*cptr++ = Vec3d(scalars_data->GetTuple(i)); |
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buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F); |
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} |
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else |
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normals.release(); |
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} |
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void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent) |
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{ |
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Superclass::PrintSelf(os, indent); |
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os << indent << "Cloud: " << cloud.needed() << "\n"; |
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os << indent << "Colors: " << colors.needed() << "\n"; |
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os << indent << "Normals: " << normals.needed() << "\n"; |
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} |
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@ -0,0 +1,76 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
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//
|
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//
|
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// License Agreement
|
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// For Open Source Computer Vision Library
|
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//
|
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// This software is provided by the copyright holders and contributors "as is" and
|
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// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// 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
|
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// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
|
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//
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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#ifndef __vtkCloudMatSink_h |
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#define __vtkCloudMatSink_h |
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namespace cv |
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{ |
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namespace viz |
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{ |
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class vtkCloudMatSink : public vtkPolyDataWriter |
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{ |
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public: |
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static vtkCloudMatSink *New(); |
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vtkTypeMacro(vtkCloudMatSink,vtkPolyDataWriter); |
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void PrintSelf(ostream& os, vtkIndent indent); |
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void SetOutput(OutputArray cloud, OutputArray colors = noArray(), OutputArray normals = noArray()); |
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protected: |
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vtkCloudMatSink(); |
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~vtkCloudMatSink(); |
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void WriteData(); |
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_OutputArray cloud, colors, normals; |
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private: |
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vtkCloudMatSink(const vtkCloudMatSink&); // Not implemented.
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void operator=(const vtkCloudMatSink&); // Not implemented.
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}; |
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} |
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} |
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#endif |
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