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Commit 1ae5918f authored by Anatoly Baksheev's avatar Anatoly Baksheev
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refactoring of copy_non_nans

parent da32ca49
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Showing with 69 additions and 68 deletions
modules/viz/include/opencv2/viz/types.hpp
View file @ 1ae5918f
#pragma once
#include <vector>
#include <boost/concept_check.hpp>
#include <opencv2/core/cvdef.h>
#include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp>
......@@ -30,6 +29,8 @@ namespace temp_viz
typedef cv::Size Size;
typedef cv::Point Point;
typedef cv::InputArray InputArray;
using cv::Point3_;
using cv::Vec;
......@@ -90,17 +91,21 @@ namespace temp_viz
Vec3d operator*(const Affine3f& affine, const Vec3d& vec);
inline bool isNaN( float x )
inline bool isNan(float x)
{
unsigned int *u = (reinterpret_cast<unsigned int *>(&x));
return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
}
inline bool isNaN( double x )
inline bool isNan(double x)
{
// Here u has two elements
unsigned int *u = (reinterpret_cast<unsigned int *>(&x));
return (u[1] & 0x7ff00000) == 0x7ff00000 &&
(u[0] != 0 || (u[1] & 0x000fffff) != 0);
}
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
}
template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
{ return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }
template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
}
modules/viz/src/q/viz3d_impl.hpp
View file @ 1ae5918f
......@@ -24,9 +24,9 @@ public:
void setWindowName (const std::string &name);
/** \brief Register a callback function for keyboard input
* \param[in] callback function that will be registered as a callback for a keyboard event
* \param[in] cookie for passing user data to callback
*/
* \param[in] callback function that will be registered as a callback for a keyboard event
* \param[in] cookie for passing user data to callback
*/
void registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie = 0);
/** \brief Register a callback function for mouse events
......@@ -96,13 +96,13 @@ public:
bool addText3D (const std::string &text, const cv::Point3f &position, const Color& color, double textScale = 1.0, const std::string &id = "");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const std::string &id = "cloud");
/** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene
* \param[in] id a variable to identify the point cloud
* \param[in] cloud cloud input in x,y,z coordinates
* \param[in] colors color input in the same order of the points or single uniform color
* \param[in] pose transform to be applied on the point cloud
*/
* \param[in] id a variable to identify the point cloud
* \param[in] cloud cloud input in x,y,z coordinates
* \param[in] colors color input in the same order of the points or single uniform color
* \param[in] pose transform to be applied on the point cloud
*/
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
......@@ -447,70 +447,66 @@ void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<
void convertToEigenMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, Eigen::Matrix4f &m);
template<typename _Tp, typename _Ts, typename _Tc> inline int copy_non_nan_loop(_Tp *d, InputArray _s, InputArray _c)
template<typename _Tp, typename _Ts, typename _Tc> inline int copy_non_nan_loop(_Tp *d, const Mat& s, const Mat& c)
{
Mat s = _s.getMat();
Mat c = _c.getMat();
CV_Assert(s.size() == c.size());
int j = 0;
for(int y = 0; y < s.rows; ++y)
{
const _Ts* srow = s.ptr<_Ts>(y);
const _Tc* crow = c.ptr<_Tc>(y);
for(int x = 0; x < s.cols; ++x)
if (!isNaN(crow[x][0]) && !isNaN(crow[x][1]) && !isNaN(crow[x][2]))
{
d[j++] = _Tp((srow[x])[0], (srow[x])[1], (srow[x])[2]);
}
const _Ts* srow = s.ptr<_Ts>(y);
const _Tc* crow = c.ptr<_Tc>(y);
for(int x = 0; x < s.cols; ++x)
if (!isNan(crow[x]))
d[j++] = _Tp((srow[x])[0], (srow[x])[1], (srow[x])[2]);
}
return j;
}
/** \brief Assign a value to a variable if another variable is not NaN
* \param[in] d the destination variable
* \param[in] _s the source variable
* \param[in] _c the values to be controlled if NaN (can be different from _s)
* \param[in] s the source variable
* \param[in] c the values to be controlled if NaN (can be different from s)
* \param[out] j number of points that are copied
*/
template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArray _c)
*/
template<typename _Tp> inline int copy_non_nans(_Tp *d, const Mat& s, const Mat& c)
{
Mat s = _s.getMat();
Mat c = _c.getMat();
CV_Assert(s.size() == c.size());
int j = 0;
if (s.channels() > 3)
{
if (s.type() == CV_32FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4d>(d,_s,_c); break;
}
}
else if (s.type() == CV_64FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4d>(d,_s,_c); break;
}
}
if (s.type() == CV_32FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4d>(d, s, c); break;
}
}
else if (s.type() == CV_64FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4d>(d, s, c); break;
}
}
}
else
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4d>(d,_s,_c); break;
}
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4d>(d, s, c); break;
}
}
return j;
}
......@@ -519,12 +515,12 @@ template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArra
* \param[in] d the destination variable
* \param[in] lenth the length of the d array
* \param[in] pose affine transform to be applied on each point in d
*/
*/
template<typename _Tp> inline void transform_non_nans(_Tp* d, int length, const Affine3f& pose = Affine3f::Identity())
{
for (int i = 0; i < length; ++i)
{
d[i] = pose * d[i];
d[i] = pose * d[i];
}
}
......
modules/viz/src/viz3d_impl.cpp
View file @ 1ae5918f
......@@ -78,15 +78,15 @@ void temp_viz::Viz3d::VizImpl::showPointCloud(const String& id, InputArray _clou
{
// Get a pointer to the beginning of the data array
Vec3f *data = reinterpret_cast<Vec3f*>((static_cast<vtkFloatArray*> (points->GetData ()))->GetPointer (0));
j = copy_non_nans(data, cloud, cloud);
transform_non_nans(data,j,pose);
j = copy_non_nans(data, cloud, cloud);
transform_non_nans(data,j,pose);
}
else if (cloud.depth() == CV_64F)
{
// Get a pointer to the beginning of the data array
Vec3d *data = reinterpret_cast<Vec3d*>((static_cast<vtkDoubleArray*> (points->GetData ()))->GetPointer (0));
j = copy_non_nans(data, cloud, cloud);
transform_non_nans(data,j,pose);
j = copy_non_nans(data, cloud, cloud);
transform_non_nans(data,j,pose);
}
nr_points = j;
......
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