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CloudViewer: no need to save texture on disk before rendering TextureMesh (opencv image to vtk texture directly)
This commit is contained in:
matlabbe
147
guilib/src/opencv/vtkImageMatSource.cpp
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147
guilib/src/opencv/vtkImageMatSource.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#include "vtkImageMatSource.h"
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#include <vtkImageData.h>
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#include <vtkInformation.h>
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#include <vtkInformationVector.h>
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#include <vtkStreamingDemandDrivenPipeline.h>
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#include <vtkObjectFactory.h>
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namespace rtabmap {
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vtkStandardNewMacro(vtkImageMatSource);
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}
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rtabmap::vtkImageMatSource::vtkImageMatSource()
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{
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this->SetNumberOfInputPorts(0);
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this->ImageData = vtkSmartPointer<vtkImageData>::New();
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}
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int rtabmap::vtkImageMatSource::RequestInformation(vtkInformation *, vtkInformationVector**, vtkInformationVector *outputVector)
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{
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vtkInformation* outInfo = outputVector->GetInformationObject(0);
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outInfo->Set(vtkStreamingDemandDrivenPipeline::WHOLE_EXTENT(), this->ImageData->GetExtent(), 6);
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outInfo->Set(vtkDataObject::SPACING(), 1.0, 1.0, 1.0);
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outInfo->Set(vtkDataObject::ORIGIN(), 0.0, 0.0, 0.0);
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vtkDataObject::SetPointDataActiveScalarInfo(outInfo, this->ImageData->GetScalarType(), this->ImageData->GetNumberOfScalarComponents());
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return 1;
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}
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int rtabmap::vtkImageMatSource::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector *outputVector)
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{
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vtkInformation *outInfo = outputVector->GetInformationObject(0);
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vtkImageData *output = vtkImageData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()) );
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output->ShallowCopy(this->ImageData);
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return 1;
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}
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void rtabmap::vtkImageMatSource::SetImage(cv::InputArray _image)
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{
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CV_Assert(_image.depth() == CV_8U && (_image.channels() == 1 || _image.channels() == 3 || _image.channels() == 4));
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cv::Mat image = _image.getMat();
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this->ImageData->SetDimensions(image.cols, image.rows, 1);
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#if VTK_MAJOR_VERSION <= 5
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this->ImageData->SetNumberOfScalarComponents(image.channels());
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this->ImageData->SetScalarTypeToUnsignedChar();
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this->ImageData->AllocateScalars();
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#else
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this->ImageData->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
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#endif
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switch(image.channels())
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{
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case 1: copyGrayImage(image, this->ImageData); break;
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case 3: copyRGBImage (image, this->ImageData); break;
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case 4: copyRGBAImage(image, this->ImageData); break;
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}
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this->ImageData->Modified();
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}
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void rtabmap::vtkImageMatSource::copyGrayImage(const cv::Mat &source, vtkSmartPointer<vtkImageData> output)
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{
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unsigned char* dptr = reinterpret_cast<unsigned char*>(output->GetScalarPointer());
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size_t elem_step = output->GetIncrements()[1]/sizeof(unsigned char);
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for (int y = 0; y < source.rows; ++y)
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{
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unsigned char* drow = dptr + elem_step * y;
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const unsigned char *srow = source.ptr<unsigned char>(source.rows-(y+1)); // vertical flip for texturing
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for (int x = 0; x < source.cols; ++x)
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drow[x] = *srow++;
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}
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}
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void rtabmap::vtkImageMatSource::copyRGBImage(const cv::Mat &source, vtkSmartPointer<vtkImageData> output)
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{
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cv::Vec3b* dptr = reinterpret_cast<cv::Vec3b*>(output->GetScalarPointer());
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size_t elem_step = output->GetIncrements()[1]/sizeof(cv::Vec3b);
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for (int y = 0; y < source.rows; ++y)
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{
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cv::Vec3b* drow = dptr + elem_step * y;
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const unsigned char *srow = source.ptr<unsigned char>(source.rows - (y + 1)); // vertical flip for texturing
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for (int x = 0; x < source.cols; ++x, srow += source.channels())
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drow[x] = cv::Vec3b(srow[2], srow[1], srow[0]);
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}
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}
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void rtabmap::vtkImageMatSource::copyRGBAImage(const cv::Mat &source, vtkSmartPointer<vtkImageData> output)
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{
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cv::Vec4b* dptr = reinterpret_cast<cv::Vec4b*>(output->GetScalarPointer());
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size_t elem_step = output->GetIncrements()[1]/sizeof(cv::Vec4b);
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for (int y = 0; y < source.rows; ++y)
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{
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cv::Vec4b* drow = dptr + elem_step * y;
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const unsigned char *srow = source.ptr<unsigned char>(source.rows - (y + 1)); // vertical flip for texturing
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for (int x = 0; x < source.cols; ++x, srow += source.channels())
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drow[x] = cv::Vec4b(srow[2], srow[1], srow[0], srow[3]);
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}
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}
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81
guilib/src/opencv/vtkImageMatSource.h
Normal file
81
guilib/src/opencv/vtkImageMatSource.h
Normal file
@@ -0,0 +1,81 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
||||
//
|
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//
|
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// License Agreement
|
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// For Open Source Computer Vision Library
|
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
|
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//
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// This software is provided by the copyright holders and contributors "as is" and
|
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// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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||||
//
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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#ifndef RTABMAP__vtkImageMatSource_h
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#define RTABMAP__vtkImageMatSource_h
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#include <opencv2/core/core.hpp>
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#include <vtkImageAlgorithm.h>
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#include <vtkSmartPointer.h>
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namespace rtabmap
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{
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class vtkImageMatSource : public vtkImageAlgorithm
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{
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public:
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static vtkImageMatSource *New();
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vtkTypeMacro(vtkImageMatSource, vtkImageAlgorithm);
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void SetImage(cv::InputArray image);
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protected:
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vtkImageMatSource();
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~vtkImageMatSource() {}
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vtkSmartPointer<vtkImageData> ImageData;
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int RequestInformation(vtkInformation*, vtkInformationVector**, vtkInformationVector*);
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int RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector*);
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private:
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vtkImageMatSource(const vtkImageMatSource&); // Not implemented.
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void operator=(const vtkImageMatSource&); // Not implemented.
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static void copyGrayImage(const cv::Mat &source, vtkSmartPointer<vtkImageData> output);
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static void copyRGBImage(const cv::Mat &source, vtkSmartPointer<vtkImageData> output);
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static void copyRGBAImage(const cv::Mat &source, vtkSmartPointer<vtkImageData> output);
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};
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}
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#endif
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