1 /*M///////////////////////////////////////////////////////////////////////////////////////
2 //
3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
4 //
5 // By downloading, copying, installing or using the software you agree to this license.
6 // If you do not agree to this license, do not download, install,
7 // copy or use the software.
8 //
9 //
10 // License Agreement
11 // For Open Source Computer Vision Library
12 //
13 // Copyright (C) 2013, OpenCV Foundation, all rights reserved.
14 // Third party copyrights are property of their respective owners.
15 //
16 // Redistribution and use in source and binary forms, with or without modification,
17 // are permitted provided that the following conditions are met:
18 //
19 // * Redistribution's of source code must retain the above copyright notice,
20 // this list of conditions and the following disclaimer.
21 //
22 // * Redistribution's in binary form must reproduce the above copyright notice,
23 // this list of conditions and the following disclaimer in the documentation
24 // and/or other materials provided with the distribution.
25 //
26 // * The name of the copyright holders may not be used to endorse or promote products
27 // derived from this software without specific prior written permission.
28 //
29 // This software is provided by the copyright holders and contributors "as is" and
30 // any express or implied warranties, including, but not limited to, the implied
31 // warranties of merchantability and fitness for a particular purpose are disclaimed.
32 // In no event shall the Intel Corporation or contributors be liable for any direct,
33 // indirect, incidental, special, exemplary, or consequential damages
34 // (including, but not limited to, procurement of substitute goods or services;
35 // loss of use, data, or profits; or business interruption) however caused
36 // and on any theory of liability, whether in contract, strict liability,
37 // or tort (including negligence or otherwise) arising in any way out of
38 // the use of this software, even if advised of the possibility of such damage.
39 //
40 // Authors:
41 // * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
42 //
43 //M*/
44
45 #include "precomp.hpp"
46
47 namespace cv { namespace viz
48 {
49 vtkStandardNewMacro(vtkCloudMatSink);
50 }}
51
vtkCloudMatSink()52 cv::viz::vtkCloudMatSink::vtkCloudMatSink() {}
~vtkCloudMatSink()53 cv::viz::vtkCloudMatSink::~vtkCloudMatSink() {}
54
SetOutput(OutputArray _cloud,OutputArray _colors,OutputArray _normals,OutputArray _tcoords)55 void cv::viz::vtkCloudMatSink::SetOutput(OutputArray _cloud, OutputArray _colors, OutputArray _normals, OutputArray _tcoords)
56 {
57 cloud = _cloud;
58 colors = _colors;
59 normals = _normals;
60 tcoords = _tcoords;
61 }
62
WriteData()63 void cv::viz::vtkCloudMatSink::WriteData()
64 {
65 vtkPolyData *input = this->GetInput();
66 if (!input)
67 return;
68
69 vtkSmartPointer<vtkPoints> points_Data = input->GetPoints();
70
71 if (cloud.needed() && points_Data)
72 {
73 int vtktype = points_Data->GetDataType();
74 CV_Assert(vtktype == VTK_FLOAT || vtktype == VTK_DOUBLE);
75
76 cloud.create(1, points_Data->GetNumberOfPoints(), vtktype == VTK_FLOAT ? CV_32FC3 : CV_64FC3);
77 Vec3d *ddata = cloud.getMat().ptr<Vec3d>();
78 Vec3f *fdata = cloud.getMat().ptr<Vec3f>();
79
80 if (cloud.depth() == CV_32F)
81 for(size_t i = 0; i < cloud.total(); ++i)
82 *fdata++ = Vec3d(points_Data->GetPoint((vtkIdType)i));
83
84 if (cloud.depth() == CV_64F)
85 for(size_t i = 0; i < cloud.total(); ++i)
86 *ddata++ = Vec3d(points_Data->GetPoint((vtkIdType)i));
87 }
88 else
89 cloud.release();
90
91 vtkSmartPointer<vtkDataArray> scalars_data = input->GetPointData() ? input->GetPointData()->GetScalars() : 0;
92
93 if (colors.needed() && scalars_data)
94 {
95 int channels = scalars_data->GetNumberOfComponents();
96 int vtktype = scalars_data->GetDataType();
97
98 CV_Assert((channels == 3 || channels == 4) && "Only 3- or 4-channel color data support is implemented");
99 CV_Assert(cloud.total() == (size_t)scalars_data->GetNumberOfTuples());
100
101 Mat buffer(cloud.size(), CV_64FC(channels));
102 Vec3d *cptr = buffer.ptr<Vec3d>();
103 for(size_t i = 0; i < buffer.total(); ++i)
104 *cptr++ = Vec3d(scalars_data->GetTuple((vtkIdType)i));
105
106 buffer.convertTo(colors, CV_8U, vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE ? 255.0 : 1.0);
107 }
108 else
109 colors.release();
110
111 vtkSmartPointer<vtkDataArray> normals_data = input->GetPointData() ? input->GetPointData()->GetNormals() : 0;
112
113 if (normals.needed() && normals_data)
114 {
115 int channels = normals_data->GetNumberOfComponents();
116 int vtktype = normals_data->GetDataType();
117
118 CV_Assert((vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE) && (channels == 3 || channels == 4));
119 CV_Assert(cloud.total() == (size_t)normals_data->GetNumberOfTuples());
120
121 Mat buffer(cloud.size(), CV_64FC(channels));
122 Vec3d *cptr = buffer.ptr<Vec3d>();
123 for(size_t i = 0; i < buffer.total(); ++i)
124 *cptr++ = Vec3d(normals_data->GetTuple((vtkIdType)i));
125
126 buffer.convertTo(normals, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
127 }
128 else
129 normals.release();
130
131 vtkSmartPointer<vtkDataArray> coords_data = input->GetPointData() ? input->GetPointData()->GetTCoords() : 0;
132
133 if (tcoords.needed() && coords_data)
134 {
135 int vtktype = coords_data->GetDataType();
136
137 CV_Assert(vtktype == VTK_FLOAT || VTK_FLOAT == VTK_DOUBLE);
138 CV_Assert(cloud.total() == (size_t)coords_data->GetNumberOfTuples());
139
140 Mat buffer(cloud.size(), CV_64FC2);
141 Vec2d *cptr = buffer.ptr<Vec2d>();
142 for(size_t i = 0; i < buffer.total(); ++i)
143 *cptr++ = Vec2d(coords_data->GetTuple((vtkIdType)i));
144
145 buffer.convertTo(tcoords, vtktype == VTK_FLOAT ? CV_32F : CV_64F);
146
147 }
148 else
149 tcoords.release();
150 }
151
PrintSelf(ostream & os,vtkIndent indent)152 void cv::viz::vtkCloudMatSink::PrintSelf(ostream& os, vtkIndent indent)
153 {
154 Superclass::PrintSelf(os, indent);
155 os << indent << "Cloud: " << cloud.needed() << "\n";
156 os << indent << "Colors: " << colors.needed() << "\n";
157 os << indent << "Normals: " << normals.needed() << "\n";
158 }
159
FillInputPortInformation(int,vtkInformation * info)160 int cv::viz::vtkCloudMatSink::FillInputPortInformation(int, vtkInformation *info)
161 {
162 info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");
163 return 1;
164 }
165
GetInput()166 vtkPolyData* cv::viz::vtkCloudMatSink::GetInput()
167 {
168 return vtkPolyData::SafeDownCast(this->Superclass::GetInput());
169 }
170
GetInput(int port)171 vtkPolyData* cv::viz::vtkCloudMatSink::GetInput(int port)
172 {
173 return vtkPolyData::SafeDownCast(this->Superclass::GetInput(port));
174 }
175