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 54namespace 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