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 #ifndef __vtkCloudMatSource_h 46 #define __vtkCloudMatSource_h 47 48 #include <opencv2/core.hpp> 49 #include <vtkPolyDataAlgorithm.h> 50 #include <vtkSmartPointer.h> 51 #include <vtkPoints.h> 52 #include <vtkCellArray.h> 53 54 namespace cv 55 { 56 namespace viz 57 { 58 class vtkCloudMatSource : public vtkPolyDataAlgorithm 59 { 60 public: 61 static vtkCloudMatSource *New(); 62 vtkTypeMacro(vtkCloudMatSource,vtkPolyDataAlgorithm) 63 64 virtual int SetCloud(InputArray cloud); 65 virtual int SetColorCloud(InputArray cloud, InputArray colors); 66 virtual int SetColorCloudNormals(InputArray cloud, InputArray colors, InputArray normals); 67 virtual int SetColorCloudNormalsTCoords(InputArray cloud, InputArray colors, InputArray normals, InputArray tcoords); 68 69 protected: 70 vtkCloudMatSource(); 71 ~vtkCloudMatSource(); 72 73 int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *); 74 75 vtkSmartPointer<vtkPoints> points; 76 vtkSmartPointer<vtkCellArray> vertices; 77 vtkSmartPointer<vtkUnsignedCharArray> scalars; 78 vtkSmartPointer<vtkDataArray> normals; 79 vtkSmartPointer<vtkDataArray> tcoords; 80 private: 81 vtkCloudMatSource(const vtkCloudMatSource&); // Not implemented. 82 void operator=(const vtkCloudMatSource&); // Not implemented. 83 84 template<typename _Tp> int filterNanCopy(const Mat& cloud); 85 template<typename _Msk> void filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total); 86 87 template<typename _Tn, typename _Msk> 88 void filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total); 89 90 template<typename _Tn, typename _Msk> 91 void filterNanTCoordsCopy(const Mat& tcoords, const Mat& mask, int total); 92 }; 93 } 94 } 95 96 #endif 97