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vtkDepthImageToPointCloud Class Reference

convert a depth image into a point cloud More...

#include <vtkDepthImageToPointCloud.h>

Inheritance diagram for vtkDepthImageToPointCloud:
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Collaboration diagram for vtkDepthImageToPointCloud:
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Public Types

typedef vtkPolyDataAlgorithm Superclass
 
- Public Types inherited from vtkPolyDataAlgorithm
typedef vtkAlgorithm Superclass
 
- Public Types inherited from vtkAlgorithm
enum  DesiredOutputPrecision { SINGLE_PRECISION, DOUBLE_PRECISION, DEFAULT_PRECISION }
 Values used for setting the desired output precision for various algorithms. More...
 
typedef vtkObject Superclass
 

Public Member Functions

virtual vtkTypeBool IsA (const char *type)
 Return 1 if this class is the same type of (or a subclass of) the named class. More...
 
vtkDepthImageToPointCloudNewInstance () const
 
void PrintSelf (ostream &os, vtkIndent indent) override
 Methods invoked by print to print information about the object including superclasses. More...
 
vtkMTimeType GetMTime () override
 Return the MTime also considering the camera. More...
 
void SetCamera (vtkCamera *)
 Indicates what camera was used to generate the depth image. More...
 
virtual vtkCameraGetCamera ()
 Returns the camera being used to generate the point cloud from the depth image. More...
 
virtual void SetCullNearPoints (bool)
 Indicate whether to cull points that are located on the near clipping plane. More...
 
virtual bool GetCullNearPoints ()
 
virtual void CullNearPointsOn ()
 
virtual void CullNearPointsOff ()
 
virtual void SetCullFarPoints (bool)
 Indicate whether to cull points that are located on the far clipping plane. More...
 
virtual bool GetCullFarPoints ()
 
virtual void CullFarPointsOn ()
 
virtual void CullFarPointsOff ()
 
virtual void SetProduceColorScalars (bool)
 Indicate whether to output color scalar values along with the point cloud (assuming that the scalar values are available on input). More...
 
virtual bool GetProduceColorScalars ()
 
virtual void ProduceColorScalarsOn ()
 
virtual void ProduceColorScalarsOff ()
 
virtual void SetProduceVertexCellArray (bool)
 Indicate whether to output a vertex cell array (i.e., Verts) in the output point cloud. More...
 
virtual bool GetProduceVertexCellArray ()
 
virtual void ProduceVertexCellArrayOn ()
 
virtual void ProduceVertexCellArrayOff ()
 
virtual void SetOutputPointsPrecision (int)
 Set the desired precision for the output points. More...
 
virtual int GetOutputPointsPrecision ()
 
- Public Member Functions inherited from vtkPolyDataAlgorithm
vtkPolyDataAlgorithmNewInstance () const
 
vtkPolyDataGetOutput ()
 Get the output data object for a port on this algorithm. More...
 
vtkPolyDataGetOutput (int)
 
virtual void SetOutput (vtkDataObject *d)
 
vtkTypeBool ProcessRequest (vtkInformation *, vtkInformationVector **, vtkInformationVector *) override
 see vtkAlgorithm for details More...
 
vtkDataObjectGetInput ()
 
vtkDataObjectGetInput (int port)
 
vtkPolyDataGetPolyDataInput (int port)
 
void SetInputData (vtkDataObject *)
 Assign a data object as input. More...
 
void SetInputData (int, vtkDataObject *)
 
void AddInputData (vtkDataObject *)
 Assign a data object as input. More...
 
void AddInputData (int, vtkDataObject *)
 
- Public Member Functions inherited from vtkAlgorithm
vtkAlgorithmNewInstance () const
 
int HasExecutive ()
 Check whether this algorithm has an assigned executive. More...
 
vtkExecutiveGetExecutive ()
 Get this algorithm's executive. More...
 
virtual void SetExecutive (vtkExecutive *executive)
 Set this algorithm's executive. More...
 
vtkTypeBool ProcessRequest (vtkInformation *request, vtkCollection *inInfo, vtkInformationVector *outInfo)
 Version of ProcessRequest() that is wrapped. More...
 
virtual int ComputePipelineMTime (vtkInformation *request, vtkInformationVector **inInfoVec, vtkInformationVector *outInfoVec, int requestFromOutputPort, vtkMTimeType *mtime)
 A special version of ProcessRequest meant specifically for the pipeline modified time request. More...
 
virtual int ModifyRequest (vtkInformation *request, int when)
 This method gives the algorithm a chance to modify the contents of a request before or after (specified in the when argument) it is forwarded. More...
 
vtkInformationGetInputPortInformation (int port)
 Get the information object associated with an input port. More...
 
vtkInformationGetOutputPortInformation (int port)
 Get the information object associated with an output port. More...
 
virtual vtkInformationGetInformation ()
 Set/Get the information object associated with this algorithm. More...
 
virtual void SetInformation (vtkInformation *)
 
int GetNumberOfInputPorts ()
 Get the number of input ports used by the algorithm. More...
 
int GetNumberOfOutputPorts ()
 Get the number of output ports provided by the algorithm. More...
 
void Register (vtkObjectBase *o) override
 Participate in garbage collection. More...
 
void UnRegister (vtkObjectBase *o) override
 Decrease the reference count (release by another object). More...
 
virtual void SetAbortExecute (vtkTypeBool)
 Set/Get the AbortExecute flag for the process object. More...
 
virtual vtkTypeBool GetAbortExecute ()
 
virtual void AbortExecuteOn ()
 
virtual void AbortExecuteOff ()
 
virtual double GetProgress ()
 Get the execution progress of a process object. More...
 
void SetProgress (double)
 SetProgress is deprecated. More...
 
void UpdateProgress (double amount)
 Update the progress of the process object. More...
 
void SetProgressShiftScale (double shift, double scale)
 Specify the shift and scale values to use to apply to the progress amount when UpdateProgress is called. More...
 
virtual double GetProgressShift ()
 
virtual double GetProgressScale ()
 
void SetProgressText (const char *ptext)
 Set the current text message associated with the progress state. More...
 
virtual char * GetProgressText ()
 
virtual unsigned long GetErrorCode ()
 The error code contains a possible error that occurred while reading or writing the file. More...
 
virtual void SetInputArrayToProcess (int idx, int port, int connection, int fieldAssociation, const char *name)
 Set the input data arrays that this algorithm will process. More...
 
virtual void SetInputArrayToProcess (int idx, int port, int connection, int fieldAssociation, int fieldAttributeType)
 
virtual void SetInputArrayToProcess (int idx, vtkInformation *info)
 
virtual void SetInputArrayToProcess (int idx, int port, int connection, const char *fieldAssociation, const char *attributeTypeorName)
 String based versions of SetInputArrayToProcess(). More...
 
vtkInformationGetInputArrayInformation (int idx)
 Get the info object for the specified input array to this algorithm. More...
 
void RemoveAllInputs ()
 Remove all the input data. More...
 
vtkDataObjectGetOutputDataObject (int port)
 Get the data object that will contain the algorithm output for the given port. More...
 
vtkDataObjectGetInputDataObject (int port, int connection)
 Get the data object that will contain the algorithm input for the given port and given connection. More...
 
virtual void SetInputConnection (int port, vtkAlgorithmOutput *input)
 Set the connection for the given input port index. More...
 
virtual void SetInputConnection (vtkAlgorithmOutput *input)
 
virtual void AddInputConnection (int port, vtkAlgorithmOutput *input)
 Add a connection to the given input port index. More...
 
virtual void AddInputConnection (vtkAlgorithmOutput *input)
 
virtual void RemoveInputConnection (int port, vtkAlgorithmOutput *input)
 Remove a connection from the given input port index. More...
 
virtual void RemoveInputConnection (int port, int idx)
 Remove a connection given by index idx. More...
 
virtual void RemoveAllInputConnections (int port)
 Removes all input connections. More...
 
virtual void SetInputDataObject (int port, vtkDataObject *data)
 Sets the data-object as an input on the given port index. More...
 
virtual void SetInputDataObject (vtkDataObject *data)
 
virtual void AddInputDataObject (int port, vtkDataObject *data)
 Add the data-object as an input to this given port. More...
 
virtual void AddInputDataObject (vtkDataObject *data)
 
vtkAlgorithmOutputGetOutputPort (int index)
 Get a proxy object corresponding to the given output port of this algorithm. More...
 
vtkAlgorithmOutputGetOutputPort ()
 
int GetNumberOfInputConnections (int port)
 Get the number of inputs currently connected to a port. More...
 
int GetTotalNumberOfInputConnections ()
 Get the total number of inputs for this algorithm. More...
 
vtkAlgorithmOutputGetInputConnection (int port, int index)
 Get the algorithm output port connected to an input port. More...
 
vtkAlgorithmGetInputAlgorithm (int port, int index, int &algPort)
 Returns the algorithm and the output port index of that algorithm connected to a port-index pair. More...
 
vtkAlgorithmGetInputAlgorithm (int port, int index)
 Returns the algorithm connected to a port-index pair. More...
 
vtkAlgorithmGetInputAlgorithm ()
 Equivalent to GetInputAlgorithm(0, 0). More...
 
vtkExecutiveGetInputExecutive (int port, int index)
 Returns the executive associated with a particular input connection. More...
 
vtkExecutiveGetInputExecutive ()
 Equivalent to GetInputExecutive(0, 0) More...
 
vtkInformationGetInputInformation (int port, int index)
 Return the information object that is associated with a particular input connection. More...
 
vtkInformationGetInputInformation ()
 Equivalent to GetInputInformation(0, 0) More...
 
vtkInformationGetOutputInformation (int port)
 Return the information object that is associated with a particular output port. More...
 
virtual void Update (int port)
 Bring this algorithm's outputs up-to-date. More...
 
virtual void Update ()
 
virtual vtkTypeBool Update (int port, vtkInformationVector *requests)
 This method enables the passing of data requests to the algorithm to be used during execution (in addition to bringing a particular port up-to-date). More...
 
virtual vtkTypeBool Update (vtkInformation *requests)
 Convenience method to update an algorithm after passing requests to its first output port. More...
 
virtual int UpdatePiece (int piece, int numPieces, int ghostLevels, const int extents[6]=nullptr)
 Convenience method to update an algorithm after passing requests to its first output port. More...
 
virtual int UpdateExtent (const int extents[6])
 Convenience method to update an algorithm after passing requests to its first output port. More...
 
virtual int UpdateTimeStep (double time, int piece=-1, int numPieces=1, int ghostLevels=0, const int extents[6]=nullptr)
 Convenience method to update an algorithm after passing requests to its first output port. More...
 
virtual void UpdateInformation ()
 Bring the algorithm's information up-to-date. More...
 
virtual void UpdateDataObject ()
 Create output object(s). More...
 
virtual void PropagateUpdateExtent ()
 Propagate meta-data upstream. More...
 
virtual void UpdateWholeExtent ()
 Bring this algorithm's outputs up-to-date. More...
 
void ConvertTotalInputToPortConnection (int ind, int &port, int &conn)
 Convenience routine to convert from a linear ordering of input connections to a port/connection pair. More...
 
virtual void SetReleaseDataFlag (int)
 Turn release data flag on or off for all output ports. More...
 
virtual int GetReleaseDataFlag ()
 
void ReleaseDataFlagOn ()
 
void ReleaseDataFlagOff ()
 
int UpdateExtentIsEmpty (vtkInformation *pinfo, vtkDataObject *output)
 This detects when the UpdateExtent will generate no data This condition is satisfied when the UpdateExtent has zero volume (0,-1,...) or the UpdateNumberOfPieces is 0. More...
 
int UpdateExtentIsEmpty (vtkInformation *pinfo, int extentType)
 
intGetUpdateExtent ()
 These functions return the update extent for output ports that use 3D extents. More...
 
intGetUpdateExtent (int port)
 
void GetUpdateExtent (int &x0, int &x1, int &y0, int &y1, int &z0, int &z1)
 
void GetUpdateExtent (int port, int &x0, int &x1, int &y0, int &y1, int &z0, int &z1)
 
void GetUpdateExtent (int extent[6])
 
void GetUpdateExtent (int port, int extent[6])
 
int GetUpdatePiece ()
 These functions return the update extent for output ports that use piece extents. More...
 
int GetUpdatePiece (int port)
 
int GetUpdateNumberOfPieces ()
 
int GetUpdateNumberOfPieces (int port)
 
int GetUpdateGhostLevel ()
 
int GetUpdateGhostLevel (int port)
 
void SetProgressObserver (vtkProgressObserver *)
 If an ProgressObserver is set, the algorithm will report progress through it rather than directly. More...
 
virtual vtkProgressObserverGetProgressObserver ()
 
- Public Member Functions inherited from vtkObject
 vtkBaseTypeMacro (vtkObject, vtkObjectBase)
 
virtual void DebugOn ()
 Turn debugging output on. More...
 
virtual void DebugOff ()
 Turn debugging output off. More...
 
bool GetDebug ()
 Get the value of the debug flag. More...
 
void SetDebug (bool debugFlag)
 Set the value of the debug flag. More...
 
virtual void Modified ()
 Update the modification time for this object. More...
 
unsigned long AddObserver (unsigned long event, vtkCommand *, float priority=0.0f)
 Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...
 
unsigned long AddObserver (const char *event, vtkCommand *, float priority=0.0f)
 
vtkCommandGetCommand (unsigned long tag)
 
void RemoveObserver (vtkCommand *)
 
void RemoveObservers (unsigned long event, vtkCommand *)
 
void RemoveObservers (const char *event, vtkCommand *)
 
vtkTypeBool HasObserver (unsigned long event, vtkCommand *)
 
vtkTypeBool HasObserver (const char *event, vtkCommand *)
 
void RemoveObserver (unsigned long tag)
 
void RemoveObservers (unsigned long event)
 
void RemoveObservers (const char *event)
 
void RemoveAllObservers ()
 
vtkTypeBool HasObserver (unsigned long event)
 
vtkTypeBool HasObserver (const char *event)
 
template<class U , class T >
unsigned long AddObserver (unsigned long event, U observer, void(T::*callback)(), float priority=0.0f)
 Overloads to AddObserver that allow developers to add class member functions as callbacks for events. More...
 
template<class U , class T >
unsigned long AddObserver (unsigned long event, U observer, void(T::*callback)(vtkObject *, unsigned long, void *), float priority=0.0f)
 
template<class U , class T >
unsigned long AddObserver (unsigned long event, U observer, bool(T::*callback)(vtkObject *, unsigned long, void *), float priority=0.0f)
 Allow user to set the AbortFlagOn() with the return value of the callback method. More...
 
int InvokeEvent (unsigned long event, void *callData)
 This method invokes an event and return whether the event was aborted or not. More...
 
int InvokeEvent (const char *event, void *callData)
 
int InvokeEvent (unsigned long event)
 
int InvokeEvent (const char *event)
 
- Public Member Functions inherited from vtkObjectBase
const char * GetClassName () const
 Return the class name as a string. More...
 
virtual void Delete ()
 Delete a VTK object. More...
 
virtual void FastDelete ()
 Delete a reference to this object. More...
 
void InitializeObjectBase ()
 
void Print (ostream &os)
 Print an object to an ostream. More...
 
virtual void PrintHeader (ostream &os, vtkIndent indent)
 
virtual void PrintTrailer (ostream &os, vtkIndent indent)
 
int GetReferenceCount ()
 Return the current reference count of this object. More...
 
void SetReferenceCount (int)
 Sets the reference count. More...
 
void PrintRevisions (ostream &)
 Legacy. More...
 

Static Public Member Functions

static vtkDepthImageToPointCloudNew ()
 Standard instantiation, type and print methods. More...
 
static vtkTypeBool IsTypeOf (const char *type)
 
static vtkDepthImageToPointCloudSafeDownCast (vtkObjectBase *o)
 
- Static Public Member Functions inherited from vtkPolyDataAlgorithm
static vtkPolyDataAlgorithmNew ()
 
static vtkTypeBool IsTypeOf (const char *type)
 
static vtkPolyDataAlgorithmSafeDownCast (vtkObjectBase *o)
 
- Static Public Member Functions inherited from vtkAlgorithm
static vtkAlgorithmNew ()
 
static vtkTypeBool IsTypeOf (const char *type)
 
static vtkAlgorithmSafeDownCast (vtkObjectBase *o)
 
static vtkInformationIntegerKeyINPUT_IS_OPTIONAL ()
 Keys used to specify input port requirements. More...
 
static vtkInformationIntegerKeyINPUT_IS_REPEATABLE ()
 
static vtkInformationInformationVectorKeyINPUT_REQUIRED_FIELDS ()
 
static vtkInformationStringVectorKeyINPUT_REQUIRED_DATA_TYPE ()
 
static vtkInformationInformationVectorKeyINPUT_ARRAYS_TO_PROCESS ()
 
static vtkInformationIntegerKeyINPUT_PORT ()
 
static vtkInformationIntegerKeyINPUT_CONNECTION ()
 
static vtkInformationIntegerKeyCAN_PRODUCE_SUB_EXTENT ()
 This key tells the executive that a particular output port is capable of producing an arbitrary subextent of the whole extent. More...
 
static vtkInformationIntegerKeyCAN_HANDLE_PIECE_REQUEST ()
 Key that tells the pipeline that a particular algorithm can or cannot handle piece request. More...
 
static void SetDefaultExecutivePrototype (vtkExecutive *proto)
 If the DefaultExecutivePrototype is set, a copy of it is created in CreateDefaultExecutive() using NewInstance(). More...
 
- Static Public Member Functions inherited from vtkObject
static vtkObjectNew ()
 Create an object with Debug turned off, modified time initialized to zero, and reference counting on. More...
 
static void BreakOnError ()
 This method is called when vtkErrorMacro executes. More...
 
static void SetGlobalWarningDisplay (int val)
 This is a global flag that controls whether any debug, warning or error messages are displayed. More...
 
static void GlobalWarningDisplayOn ()
 
static void GlobalWarningDisplayOff ()
 
static int GetGlobalWarningDisplay ()
 
- Static Public Member Functions inherited from vtkObjectBase
static vtkTypeBool IsTypeOf (const char *name)
 Return 1 if this class type is the same type of (or a subclass of) the named class. More...
 
static vtkObjectBaseNew ()
 Create an object with Debug turned off, modified time initialized to zero, and reference counting on. More...
 

Protected Member Functions

virtual vtkObjectBaseNewInstanceInternal () const
 
 vtkDepthImageToPointCloud ()
 
 ~vtkDepthImageToPointCloud () override
 
int RequestInformation (vtkInformation *, vtkInformationVector **, vtkInformationVector *) override
 
int RequestUpdateExtent (vtkInformation *request, vtkInformationVector **inInfo, vtkInformationVector *outInfo) override
 This is called by the superclass. More...
 
int RequestData (vtkInformation *request, vtkInformationVector **inputVector, vtkInformationVector *outputVector) override
 This is called by the superclass. More...
 
int FillInputPortInformation (int port, vtkInformation *info) override
 Fill the input port information objects for this algorithm. More...
 
int FillOutputPortInformation (int port, vtkInformation *info) override
 Fill the output port information objects for this algorithm. More...
 
- Protected Member Functions inherited from vtkPolyDataAlgorithm
 vtkPolyDataAlgorithm ()
 
 ~vtkPolyDataAlgorithm () override
 
- Protected Member Functions inherited from vtkAlgorithm
 vtkAlgorithm ()
 
 ~vtkAlgorithm () override
 
virtual void SetNumberOfInputPorts (int n)
 Set the number of input ports used by the algorithm. More...
 
virtual void SetNumberOfOutputPorts (int n)
 Set the number of output ports provided by the algorithm. More...
 
int InputPortIndexInRange (int index, const char *action)
 
int OutputPortIndexInRange (int index, const char *action)
 
int GetInputArrayAssociation (int idx, vtkInformationVector **inputVector)
 Get the assocition of the actual data array for the input array specified by idx, this is only reasonable during the REQUEST_DATA pass. More...
 
int GetInputArrayAssociation (int idx, int connection, vtkInformationVector **inputVector)
 Filters that have multiple connections on one port can use this signature. More...
 
int GetInputArrayAssociation (int idx, vtkDataObject *input)
 
vtkDataArrayGetInputArrayToProcess (int idx, vtkInformationVector **inputVector)
 Get the actual data array for the input array specified by idx, this is only reasonable during the REQUEST_DATA pass. More...
 
vtkDataArrayGetInputArrayToProcess (int idx, vtkInformationVector **inputVector, int &association)
 
vtkDataArrayGetInputArrayToProcess (int idx, int connection, vtkInformationVector **inputVector)
 Filters that have multiple connections on one port can use this signature. More...
 
vtkDataArrayGetInputArrayToProcess (int idx, int connection, vtkInformationVector **inputVector, int &association)
 
vtkDataArrayGetInputArrayToProcess (int idx, vtkDataObject *input)
 
vtkDataArrayGetInputArrayToProcess (int idx, vtkDataObject *input, int &association)
 
vtkAbstractArrayGetInputAbstractArrayToProcess (int idx, vtkInformationVector **inputVector)
 Get the actual data array for the input array specified by idx, this is only reasonable during the REQUEST_DATA pass. More...
 
vtkAbstractArrayGetInputAbstractArrayToProcess (int idx, vtkInformationVector **inputVector, int &association)
 
vtkAbstractArrayGetInputAbstractArrayToProcess (int idx, int connection, vtkInformationVector **inputVector)
 Filters that have multiple connections on one port can use this signature. More...
 
vtkAbstractArrayGetInputAbstractArrayToProcess (int idx, int connection, vtkInformationVector **inputVector, int &association)
 
vtkAbstractArrayGetInputAbstractArrayToProcess (int idx, vtkDataObject *input)
 
vtkAbstractArrayGetInputAbstractArrayToProcess (int idx, vtkDataObject *input, int &association)
 
vtkInformationGetInputArrayFieldInformation (int idx, vtkInformationVector **inputVector)
 This method takes in an index (as specified in SetInputArrayToProcess) and a pipeline information vector. More...
 
virtual vtkExecutiveCreateDefaultExecutive ()
 Create a default executive. More...
 
virtual void SetErrorCode (unsigned long)
 The error code contains a possible error that occurred while reading or writing the file. More...
 
void ReportReferences (vtkGarbageCollector *) override
 
virtual void SetNthInputConnection (int port, int index, vtkAlgorithmOutput *input)
 Replace the Nth connection on the given input port. More...
 
virtual void SetNumberOfInputConnections (int port, int n)
 Set the number of input connections on the given input port. More...
 
void SetInputDataInternal (int port, vtkDataObject *input)
 These methods are used by subclasses to implement methods to set data objects directly as input. More...
 
void AddInputDataInternal (int port, vtkDataObject *input)
 
- Protected Member Functions inherited from vtkObject
 vtkObject ()
 
 ~vtkObject () override
 
void RegisterInternal (vtkObjectBase *, vtkTypeBool check) override
 
void UnRegisterInternal (vtkObjectBase *, vtkTypeBool check) override
 
void InternalGrabFocus (vtkCommand *mouseEvents, vtkCommand *keypressEvents=nullptr)
 These methods allow a command to exclusively grab all events. More...
 
void InternalReleaseFocus ()
 
- Protected Member Functions inherited from vtkObjectBase
 vtkObjectBase ()
 
virtual ~vtkObjectBase ()
 
virtual void CollectRevisions (ostream &)
 
 vtkObjectBase (const vtkObjectBase &)
 
void operator= (const vtkObjectBase &)
 

Protected Attributes

vtkCameraCamera
 
bool CullNearPoints
 
bool CullFarPoints
 
bool ProduceColorScalars
 
bool ProduceVertexCellArray
 
int OutputPointsPrecision
 
- Protected Attributes inherited from vtkAlgorithm
vtkInformationInformation
 
unsigned long ErrorCode
 
double Progress
 
char * ProgressText
 
vtkProgressObserverProgressObserver
 
- Protected Attributes inherited from vtkObject
bool Debug
 
vtkTimeStamp MTime
 
vtkSubjectHelper * SubjectHelper
 
- Protected Attributes inherited from vtkObjectBase
std::atomic< int32_t > ReferenceCount
 
vtkWeakPointerBase ** WeakPointers
 

Additional Inherited Members

- Public Attributes inherited from vtkAlgorithm
vtkTypeBool AbortExecute
 
- Static Protected Member Functions inherited from vtkAlgorithm
static vtkInformationIntegerKeyPORT_REQUIREMENTS_FILLED ()
 
- Static Protected Attributes inherited from vtkAlgorithm
static vtkExecutiveDefaultExecutivePrototype
 

Detailed Description

convert a depth image into a point cloud

vtkDepthImageToPointCloud is a filter that acquires its input from a depth image and converts it to point cloud represented as a vtkPolyData. This can then be used in a visualization pipeline.

The filter takes two input images, one of which is optional. The first image is a (required) depth image containing z-buffer values. The second image is an (optional) scalar image. The information in the z-buffer image, plus a specified camera, is used to generate x-y-z coordinates of the output point cloud (i.e., the points in a vtkPolyData). The second scalar image is (optionally) output as scalars to the output point cloud. Note that the depth image must be a single component image, with values ranging between the near and far clipping range [-1,1].

Note that if only a single input is provided, then the input is interpreted in one of two ways. First, if the "ZBuffer" point data is provided, then the input image is assumed to be color scalars with the depth data provided in the "ZBuffer" data array. (This is consistent with the vtkRendererSource filter with DepthValues enabled.) Otherwise, the input image is assumed to be a depth image.

It is (optionally) possible to cull points located on the near and far clipping planes. This may better simulate the generation of a scanned object point cloud.

Warning
For the camera to transform the image depths into a point cloud, this filter makes assumptions about the origin of the depth image (and associated color scalar image). This class performs point by point transformation. The view matrix is used to transform each pixel. IMPORTANT NOTE: The transformation occurs by normalizing the image pixels into the (-1,1) view space (depth values are passed through). The process follows the vtkCoordinate class which is the standard for VTK rendering transformations. Subtle differences in whether the lower left pixel origin are at the center of the pixel versus the lower-left corner of the pixel will make slight differences in how pixels are transformed. (Similarly for the upper right pixel as well). This half pixel difference can cause transformation issues. (The code is commented appropriately.)
This class has been threaded with vtkSMPTools. Using TBB or other non-sequential type (set in the CMake variable VTK_SMP_IMPLEMENTATION_TYPE) may improve performance significantly.
See also
vtkRendererSource vtkWindowToImageFilter vtkCamera vtkPolyData vtkCoordinate
Tests:
vtkDepthImageToPointCloud (Tests)

Definition at line 80 of file vtkDepthImageToPointCloud.h.

Member Typedef Documentation

◆ Superclass

Definition at line 88 of file vtkDepthImageToPointCloud.h.

Constructor & Destructor Documentation

◆ vtkDepthImageToPointCloud()

vtkDepthImageToPointCloud::vtkDepthImageToPointCloud ( )
protected

◆ ~vtkDepthImageToPointCloud()

vtkDepthImageToPointCloud::~vtkDepthImageToPointCloud ( )
overrideprotected

Member Function Documentation

◆ New()

static vtkDepthImageToPointCloud* vtkDepthImageToPointCloud::New ( )
static

Standard instantiation, type and print methods.

◆ IsTypeOf()

static vtkTypeBool vtkDepthImageToPointCloud::IsTypeOf ( const char *  type)
static

◆ IsA()

virtual vtkTypeBool vtkDepthImageToPointCloud::IsA ( const char *  name)
virtual

Return 1 if this class is the same type of (or a subclass of) the named class.

Returns 0 otherwise. This method works in combination with vtkTypeMacro found in vtkSetGet.h.

Reimplemented from vtkPolyDataAlgorithm.

◆ SafeDownCast()

static vtkDepthImageToPointCloud* vtkDepthImageToPointCloud::SafeDownCast ( vtkObjectBase o)
static

◆ NewInstanceInternal()

virtual vtkObjectBase* vtkDepthImageToPointCloud::NewInstanceInternal ( ) const
protectedvirtual

Reimplemented from vtkPolyDataAlgorithm.

◆ NewInstance()

vtkDepthImageToPointCloud* vtkDepthImageToPointCloud::NewInstance ( ) const

◆ PrintSelf()

void vtkDepthImageToPointCloud::PrintSelf ( ostream &  os,
vtkIndent  indent 
)
overridevirtual

Methods invoked by print to print information about the object including superclasses.

Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes.

Reimplemented from vtkPolyDataAlgorithm.

◆ GetMTime()

vtkMTimeType vtkDepthImageToPointCloud::GetMTime ( )
overridevirtual

Return the MTime also considering the camera.

Reimplemented from vtkObject.

◆ SetCamera()

void vtkDepthImageToPointCloud::SetCamera ( vtkCamera )

Indicates what camera was used to generate the depth image.

The camera parameters define a transformation which is used to perform coordinate conversion into the 3D x-y-z space of the point cloud.

◆ GetCamera()

virtual vtkCamera* vtkDepthImageToPointCloud::GetCamera ( )
virtual

Returns the camera being used to generate the point cloud from the depth image.

◆ SetCullNearPoints()

virtual void vtkDepthImageToPointCloud::SetCullNearPoints ( bool  )
virtual

Indicate whether to cull points that are located on the near clipping plane.

These typically are points that are part of the clipped foreground. By default this is disabled.

◆ GetCullNearPoints()

virtual bool vtkDepthImageToPointCloud::GetCullNearPoints ( )
virtual

◆ CullNearPointsOn()

virtual void vtkDepthImageToPointCloud::CullNearPointsOn ( )
virtual

◆ CullNearPointsOff()

virtual void vtkDepthImageToPointCloud::CullNearPointsOff ( )
virtual

◆ SetCullFarPoints()

virtual void vtkDepthImageToPointCloud::SetCullFarPoints ( bool  )
virtual

Indicate whether to cull points that are located on the far clipping plane.

These typically are points that are part of the background. By default this is enabled.

◆ GetCullFarPoints()

virtual bool vtkDepthImageToPointCloud::GetCullFarPoints ( )
virtual

◆ CullFarPointsOn()

virtual void vtkDepthImageToPointCloud::CullFarPointsOn ( )
virtual

◆ CullFarPointsOff()

virtual void vtkDepthImageToPointCloud::CullFarPointsOff ( )
virtual

◆ SetProduceColorScalars()

virtual void vtkDepthImageToPointCloud::SetProduceColorScalars ( bool  )
virtual

Indicate whether to output color scalar values along with the point cloud (assuming that the scalar values are available on input).

By default this is enabled.

◆ GetProduceColorScalars()

virtual bool vtkDepthImageToPointCloud::GetProduceColorScalars ( )
virtual

◆ ProduceColorScalarsOn()

virtual void vtkDepthImageToPointCloud::ProduceColorScalarsOn ( )
virtual

◆ ProduceColorScalarsOff()

virtual void vtkDepthImageToPointCloud::ProduceColorScalarsOff ( )
virtual

◆ SetProduceVertexCellArray()

virtual void vtkDepthImageToPointCloud::SetProduceVertexCellArray ( bool  )
virtual

Indicate whether to output a vertex cell array (i.e., Verts) in the output point cloud.

Some filters require this vertex cells to be defined in order to execute properly. For example some mappers will only render points if the vertex cells are defined.

◆ GetProduceVertexCellArray()

virtual bool vtkDepthImageToPointCloud::GetProduceVertexCellArray ( )
virtual

◆ ProduceVertexCellArrayOn()

virtual void vtkDepthImageToPointCloud::ProduceVertexCellArrayOn ( )
virtual

◆ ProduceVertexCellArrayOff()

virtual void vtkDepthImageToPointCloud::ProduceVertexCellArrayOff ( )
virtual

◆ SetOutputPointsPrecision()

virtual void vtkDepthImageToPointCloud::SetOutputPointsPrecision ( int  )
virtual

Set the desired precision for the output points.

See vtkAlgorithm::DesiredOutputPrecision for the available choices. The default is double precision.

◆ GetOutputPointsPrecision()

virtual int vtkDepthImageToPointCloud::GetOutputPointsPrecision ( )
virtual

◆ RequestInformation()

int vtkDepthImageToPointCloud::RequestInformation ( vtkInformation ,
vtkInformationVector **  ,
vtkInformationVector  
)
overrideprotectedvirtual

Reimplemented from vtkPolyDataAlgorithm.

◆ RequestUpdateExtent()

int vtkDepthImageToPointCloud::RequestUpdateExtent ( vtkInformation ,
vtkInformationVector **  ,
vtkInformationVector  
)
overrideprotectedvirtual

This is called by the superclass.

This is the method you should override.

Reimplemented from vtkPolyDataAlgorithm.

◆ RequestData()

int vtkDepthImageToPointCloud::RequestData ( vtkInformation request,
vtkInformationVector **  inputVector,
vtkInformationVector outputVector 
)
overrideprotectedvirtual

This is called by the superclass.

This is the method you should override.

Reimplemented from vtkPolyDataAlgorithm.

◆ FillInputPortInformation()

int vtkDepthImageToPointCloud::FillInputPortInformation ( int  port,
vtkInformation info 
)
overrideprotectedvirtual

Fill the input port information objects for this algorithm.

This is invoked by the first call to GetInputPortInformation for each port so subclasses can specify what they can handle.

Reimplemented from vtkPolyDataAlgorithm.

◆ FillOutputPortInformation()

int vtkDepthImageToPointCloud::FillOutputPortInformation ( int  port,
vtkInformation info 
)
overrideprotectedvirtual

Fill the output port information objects for this algorithm.

This is invoked by the first call to GetOutputPortInformation for each port so subclasses can specify what they can handle.

Reimplemented from vtkPolyDataAlgorithm.

Member Data Documentation

◆ Camera

vtkCamera* vtkDepthImageToPointCloud::Camera
protected

Definition at line 171 of file vtkDepthImageToPointCloud.h.

◆ CullNearPoints

bool vtkDepthImageToPointCloud::CullNearPoints
protected

Definition at line 172 of file vtkDepthImageToPointCloud.h.

◆ CullFarPoints

bool vtkDepthImageToPointCloud::CullFarPoints
protected

Definition at line 173 of file vtkDepthImageToPointCloud.h.

◆ ProduceColorScalars

bool vtkDepthImageToPointCloud::ProduceColorScalars
protected

Definition at line 174 of file vtkDepthImageToPointCloud.h.

◆ ProduceVertexCellArray

bool vtkDepthImageToPointCloud::ProduceVertexCellArray
protected

Definition at line 175 of file vtkDepthImageToPointCloud.h.

◆ OutputPointsPrecision

int vtkDepthImageToPointCloud::OutputPointsPrecision
protected

Definition at line 176 of file vtkDepthImageToPointCloud.h.


The documentation for this class was generated from the following file: