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implemented copy_non_nans, isnan

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This commit is contained in:
ozantonkal
2013-06-11 10:48:48 +02:00
parent c4fe98977a
commit abdc022b20
4 changed files with 108 additions and 64 deletions
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82
modules/viz/src/q/viz3d_impl.hpp
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@@ -446,6 +446,88 @@ void convertToVtkMatrix (const cv::Matx44f& m, vtkSmartPointer<vtkMatrix4x4> &vt
void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
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)
{
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]);
}
}
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[out] j number of points that are copied
*/
template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArray _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;
}
}
}
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;
}
}
return j;
}
/** \brief Transform points in an array
* \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];
}
}
}