opencv/modules/viz/src/vtk/vtkCloudMatSink.cpp

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#include "precomp.hpp"

namespace cv { namespace viz
{
    vtkStandardNewMacro(vtkCloudMatSink);
}}

cv::viz::vtkCloudMatSink::vtkCloudMatSink() {}
cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {}

void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals)
{
    cloud = _cloud;
    colors = _colors;
    normals = _normals;
}

void cv::viz::vtkCloudMatSink::WriteData()
{
    vtkPolyData *input = this->GetInput();
    if (!input)
        return;

    vtkSmartPointer<vtkPoints> points_Data = input->GetPoints();

    if (cloud.needed() && points_Data)
    {
        int vtktype = points_Data->GetDataType();
        CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE);

        cloud.create(1, points_Data->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3);
        Vec3d *ddata = cloud.getMat().ptr<Vec3d>();
        Vec3f *fdata = cloud.getMat().ptr<Vec3f>();

        if (cloud.depth() == CV_32F)
            for(size_t i = 0; i < cloud.total(); ++i)
                *fdata++ = Vec3d(points_Data->GetPoint(i));

        if (cloud.depth() == CV_64F)
            for(size_t i = 0; i < cloud.total(); ++i)
                *ddata++ = Vec3d(points_Data->GetPoint(i));
    }
    else
        cloud.release();

    vtkSmartPointer<vtkDataArray> scalars_data = input->GetPointData() ? input->GetPointData()->GetScalars() : 0;

    if (colors.needed() && scalars_data)
    {
        int channels = scalars_data->GetNumberOfComponents();
        int vtktype = scalars_data->GetDataType();

        CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented");
        CV_Assert(cloud.total() == (size_t)scalars_data->GetNumberOfTuples());

        Mat buffer(cloud.size(), CV_64FC(channels));
        Vec3d *cptr = buffer.ptr<Vec3d>();
        for(size_t i = 0; i < buffer.total(); ++i)
            *cptr++ = Vec3d(scalars_data->GetTuple(i));

        buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ?  255.0 : 1.0);
    }
    else
        colors.release();

    vtkSmartPointer<vtkDataArray> normals_data = input->GetPointData() ? input->GetPointData()->GetNormals() : 0;

    if (normals.needed() && normals_data)
    {
        int channels = normals_data->GetNumberOfComponents();
        int vtktype = normals_data->GetDataType();

        CV_Assert((vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE) && (channels == 3 || channels == 4));
        CV_Assert(cloud.total() == (size_t)normals_data->GetNumberOfTuples());

        Mat buffer(cloud.size(), CV_64FC(channels));
        Vec3d *cptr = buffer.ptr<Vec3d>();
        for(size_t i = 0; i < buffer.total(); ++i)
            *cptr++ = Vec3d(scalars_data->GetTuple(i));

        buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
    }
    else
        normals.release();
}

void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
{
  Superclass::PrintSelf(os, indent);
  os << indent << "Cloud: " << cloud.needed() << "\n";
  os << indent << "Colors: " << colors.needed() << "\n";
  os << indent << "Normals: " << normals.needed() << "\n";
}