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

#include <vtkDepthImageToPointCloud.h>

Inheritance diagram for vtkDepthImageToPointCloud:

Collaboration diagram for vtkDepthImageToPointCloud:

Public Member Functions
vtkMTimeType	GetMTime ()
	Return the MTime also considering the camera. More...

void	SetCamera (vtkCamera *)
	Indicates what camera was used to generate the depth image. More...


virtual vtkCamera *	GetCamera ()
	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 ()
	Indicate whether to cull points that are located on the near clipping plane. More...

virtual void	CullNearPointsOn ()
	Indicate whether to cull points that are located on the near clipping plane. More...

virtual void	CullNearPointsOff ()
	Indicate whether to cull points that are located on the near clipping plane. More...


virtual void	SetCullFarPoints (bool)
	Indicate whether to cull points that are located on the far clipping plane. More...

virtual bool	GetCullFarPoints ()
	Indicate whether to cull points that are located on the far clipping plane. More...

virtual void	CullFarPointsOn ()
	Indicate whether to cull points that are located on the far clipping plane. More...

virtual void	CullFarPointsOff ()
	Indicate whether to cull points that are located on the far clipping plane. More...


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

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

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


virtual void	SetProduceVertexCellArray (bool)
	Indicate whether to output a vertex cell array (i.e., Verts) in the output point cloud. More...

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

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

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


virtual void	SetOutputPointsPrecision (int)
	Set the desired precision for the output points. More...

virtual int	GetOutputPointsPrecision ()
	Set the desired precision for the output points. More...

Public Member Functions inherited from vtkPolyDataAlgorithm
vtkPolyDataAlgorithm *	NewInstance () const

int	ProcessRequest (vtkInformation , vtkInformationVector , vtkInformationVector ) override
	see vtkAlgorithm for details More...

vtkDataObject *	GetInput ()

vtkDataObject *	GetInput (int port)

vtkPolyData *	GetPolyDataInput (int port)

vtkPolyData *	GetOutput ()
	Get the output data object for a port on this algorithm. More...

vtkPolyData *	GetOutput (int)
	Get the output data object for a port on this algorithm. More...

virtual void	SetOutput (vtkDataObject *d)
	Get the output data object for a port on this algorithm. More...

void	SetInputData (vtkDataObject *)
	Assign a data object as input. More...

void	SetInputData (int, vtkDataObject *)
	Assign a data object as input. More...

void	AddInputData (vtkDataObject *)
	Assign a data object as input. More...

void	AddInputData (int, vtkDataObject *)
	Assign a data object as input. More...

Public Member Functions inherited from vtkAlgorithm
vtkAlgorithm *	NewInstance () const

int	HasExecutive ()
	Check whether this algorithm has an assigned executive. More...

vtkExecutive *	GetExecutive ()
	Get this algorithm's executive. More...

virtual void	SetExecutive (vtkExecutive *executive)
	Set this algorithm's executive. More...

int	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...

vtkInformation *	GetInputPortInformation (int port)
	Get the information object associated with an input port. More...

vtkInformation *	GetOutputPortInformation (int port)
	Get the information object associated with an output port. More...

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	UpdateProgress (double amount)
	Update the progress of the process object. More...

virtual void	SetInputArrayToProcess (int idx, int port, int connection, const char fieldAssociation, const char attributeTypeorName)
	String based versions of SetInputArrayToProcess(). More...

vtkInformation *	GetInputArrayInformation (int idx)
	Get the info object for the specified input array to this algorithm. More...

void	RemoveAllInputs ()
	Remove all the input data. More...

vtkDataObject *	GetOutputDataObject (int port)
	Get the data object that will contain the algorithm output for the given port. More...

vtkDataObject *	GetInputDataObject (int port, int connection)
	Get the data object that will contain the algorithm input for the given port and given connection. More...

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)

vtkAlgorithmOutput *	GetOutputPort (int index)
	Get a proxy object corresponding to the given output port of this algorithm. More...

vtkAlgorithmOutput *	GetOutputPort ()

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...

vtkAlgorithmOutput *	GetInputConnection (int port, int index)
	Get the algorithm output port connected to an input port. More...

vtkAlgorithm *	GetInputAlgorithm (int port, int index, int &algPort)
	Returns the algorithm and the output port index of that algorithm connected to a port-index pair. More...

vtkAlgorithm *	GetInputAlgorithm (int port, int index)
	Returns the algorithm connected to a port-index pair. More...

vtkAlgorithm *	GetInputAlgorithm ()
	Equivalent to GetInputAlgorithm(0, 0). More...

vtkExecutive *	GetInputExecutive (int port, int index)
	Returns the executive associated with a particular input connection. More...

vtkExecutive *	GetInputExecutive ()
	Equivalent to GetInputExecutive(0, 0) More...

vtkInformation *	GetInputInformation (int port, int index)
	Return the information object that is associated with a particular input connection. More...

vtkInformation *	GetInputInformation ()
	Equivalent to GetInputInformation(0, 0) More...

vtkInformation *	GetOutputInformation (int port)
	Return the information object that is associated with a particular output port. More...

virtual int	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 int	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]=0)
	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]=0)
	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...

int	SetUpdateExtentToWholeExtent (int port)
	If the whole output extent is required, this method can be called to set the output update extent to the whole extent. More...

int	SetUpdateExtentToWholeExtent ()
	Convenience function equivalent to SetUpdateExtentToWholeExtent(0) This method assumes that the whole extent is known (that UpdateInformation has been called). More...

void	SetUpdateExtent (int port, int piece, int numPieces, int ghostLevel)
	Set the output update extent in terms of piece and ghost levels. More...

void	SetUpdateExtent (int piece, int numPieces, int ghostLevel)
	Convenience function equivalent to SetUpdateExtent(0, piece, numPieces, ghostLevel) More...

void	SetUpdateExtent (int port, int extent[6])
	Set the output update extent for data objects that use 3D extents. More...

void	SetUpdateExtent (int extent[6])
	Convenience function equivalent to SetUpdateExtent(0, extent) More...

virtual vtkInformation *	GetInformation ()
	Set/Get the information object associated with this algorithm. More...

virtual void	SetInformation (vtkInformation *)
	Set/Get the information object associated with this algorithm. More...

void	Register (vtkObjectBase *o) override
	Participate in garbage collection. More...

void	UnRegister (vtkObjectBase *o) override
	Participate in garbage collection. More...

virtual void	SetAbortExecute (int)
	Set/Get the AbortExecute flag for the process object. More...

virtual int	GetAbortExecute ()
	Set/Get the AbortExecute flag for the process object. More...

virtual void	AbortExecuteOn ()
	Set/Get the AbortExecute flag for the process object. More...

virtual void	AbortExecuteOff ()
	Set/Get the AbortExecute flag for the process object. More...

virtual void	SetProgress (double)
	Set/Get the execution progress of a process object. More...

virtual double	GetProgress ()
	Set/Get the execution progress of a process object. More...

void	SetProgressText (const char *ptext)
	Set the current text message associated with the progress state. More...

virtual char *	GetProgressText ()
	Set the current text message associated with the progress state. More...

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)
	Set the input data arrays that this algorithm will process. More...

virtual void	SetInputArrayToProcess (int idx, vtkInformation *info)
	Set the input data arrays that this algorithm will process. More...

virtual void	SetInputConnection (int port, vtkAlgorithmOutput *input)
	Set the connection for the given input port index. More...

virtual void	SetInputConnection (vtkAlgorithmOutput *input)
	Set the connection for the given input port index. More...

virtual void	AddInputConnection (int port, vtkAlgorithmOutput *input)
	Add a connection to the given input port index. More...

virtual void	AddInputConnection (vtkAlgorithmOutput *input)
	Add a connection to the given input port index. More...

virtual void	Update (int port)
	Bring this algorithm's outputs up-to-date. More...

virtual void	Update ()
	Bring this algorithm's outputs up-to-date. More...

virtual void	SetReleaseDataFlag (int)
	Turn release data flag on or off for all output ports. More...

virtual int	GetReleaseDataFlag ()
	Turn release data flag on or off for all output ports. More...

void	ReleaseDataFlagOn ()
	Turn release data flag on or off for all output ports. More...

void	ReleaseDataFlagOff ()
	Turn release data flag on or off for all output ports. More...

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)
	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 *	GetUpdateExtent ()
	These functions return the update extent for output ports that use 3D extents. More...

int *	GetUpdateExtent (int port)
	These functions return the update extent for output ports that use 3D extents. More...

void	GetUpdateExtent (int &x0, int &x1, int &y0, int &y1, int &z0, int &z1)
	These functions return the update extent for output ports that use 3D extents. More...

void	GetUpdateExtent (int port, int &x0, int &x1, int &y0, int &y1, int &z0, int &z1)
	These functions return the update extent for output ports that use 3D extents. More...

void	GetUpdateExtent (int extent[6])
	These functions return the update extent for output ports that use 3D extents. More...

void	GetUpdateExtent (int port, int extent[6])
	These functions return the update extent for output ports that use 3D extents. More...

int	GetUpdatePiece ()
	These functions return the update extent for output ports that use piece extents. More...

int	GetUpdatePiece (int port)
	These functions return the update extent for output ports that use piece extents. More...

int	GetUpdateNumberOfPieces ()
	These functions return the update extent for output ports that use piece extents. More...

int	GetUpdateNumberOfPieces (int port)
	These functions return the update extent for output ports that use piece extents. More...

int	GetUpdateGhostLevel ()
	These functions return the update extent for output ports that use piece extents. More...

int	GetUpdateGhostLevel (int port)
	These functions return the update extent for output ports that use piece extents. More...

void	SetProgressObserver (vtkProgressObserver *)
	If an ProgressObserver is set, the algorithm will report progress through it rather than directly. More...

virtual vtkProgressObserver *	GetProgressObserver ()
	If an ProgressObserver is set, the algorithm will report progress through it rather than directly. More...

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...

void	RemoveObserver (unsigned long tag)

void	RemoveObservers (unsigned long event)

void	RemoveObservers (const char *event)

void	RemoveAllObservers ()

int	HasObserver (unsigned long event)

int	HasObserver (const char *event)

int	InvokeEvent (unsigned long event)

int	InvokeEvent (const char *event)

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)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...

vtkCommand *	GetCommand (unsigned long tag)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...

void	RemoveObserver (vtkCommand *)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...

void	RemoveObservers (unsigned long event, vtkCommand *)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...

void	RemoveObservers (const char event, vtkCommand )
	Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...

int	HasObserver (unsigned long event, vtkCommand *)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...

int	HasObserver (const char event, vtkCommand )
	Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...

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)
	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, 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)
	This method invokes an event and return whether the event was aborted or not. More...

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...

int	GetReferenceCount ()
	Return the current reference count of this object. More...

void	SetReferenceCount (int)
	Sets the reference count. More...

void	PrintRevisions (ostream &)
	Legacy. More...

virtual void	PrintHeader (ostream &os, vtkIndent indent)
	Methods invoked by print to print information about the object including superclasses. More...

virtual void	PrintTrailer (ostream &os, vtkIndent indent)
	Methods invoked by print to print information about the object including superclasses. More...

Protected Member Functions
	vtkDepthImageToPointCloud ()

	~vtkDepthImageToPointCloud ()

virtual int	RequestInformation (vtkInformation , vtkInformationVector , vtkInformationVector )

virtual int	RequestUpdateExtent (vtkInformation request, vtkInformationVector inInfo, vtkInformationVector outInfo)
	This is called by the superclass. More...

virtual int	RequestData (vtkInformation request, vtkInformationVector inputVector, vtkInformationVector outputVector)
	This is called by the superclass. More...

virtual int	FillInputPortInformation (int port, vtkInformation *info)
	Fill the input port information objects for this algorithm. More...

virtual int	FillOutputPortInformation (int port, vtkInformation *info)
	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...

vtkInformation *	GetInputArrayFieldInformation (int idx, vtkInformationVector **inputVector)
	This method takes in an index (as specified in SetInputArrayToProcess) and a pipeline information vector. More...

virtual vtkExecutive *	CreateDefaultExecutive ()
	Create a default executive. 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)

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)
	Filters that have multiple connections on one port can use this signature. More...

vtkDataArray *	GetInputArrayToProcess (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...

vtkDataArray *	GetInputArrayToProcess (int idx, vtkInformationVector **inputVector, int &association)
	Get the actual data array for the input array specified by idx, this is only reasonable during the REQUEST_DATA pass. More...

vtkDataArray *	GetInputArrayToProcess (int idx, int connection, vtkInformationVector **inputVector)
	Filters that have multiple connections on one port can use this signature. More...

vtkDataArray *	GetInputArrayToProcess (int idx, int connection, vtkInformationVector **inputVector, int &association)
	Filters that have multiple connections on one port can use this signature. More...

vtkDataArray *	GetInputArrayToProcess (int idx, vtkDataObject *input)
	Filters that have multiple connections on one port can use this signature. More...

vtkDataArray *	GetInputArrayToProcess (int idx, vtkDataObject *input, int &association)
	Filters that have multiple connections on one port can use this signature. More...

vtkAbstractArray *	GetInputAbstractArrayToProcess (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...

vtkAbstractArray *	GetInputAbstractArrayToProcess (int idx, vtkInformationVector **inputVector, int &association)
	Get the actual data array for the input array specified by idx, this is only reasonable during the REQUEST_DATA pass. More...

vtkAbstractArray *	GetInputAbstractArrayToProcess (int idx, int connection, vtkInformationVector **inputVector)
	Filters that have multiple connections on one port can use this signature. More...

vtkAbstractArray *	GetInputAbstractArrayToProcess (int idx, int connection, vtkInformationVector **inputVector, int &association)
	Filters that have multiple connections on one port can use this signature. More...

vtkAbstractArray *	GetInputAbstractArrayToProcess (int idx, vtkDataObject *input)
	Filters that have multiple connections on one port can use this signature. More...

vtkAbstractArray *	GetInputAbstractArrayToProcess (int idx, vtkDataObject *input, int &association)
	Filters that have multiple connections on one port can use this signature. More...

virtual void	SetErrorCode (unsigned long)
	The error code contains a possible error that occurred while reading or writing the file. More...

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=NULL)
	These methods allow a command to exclusively grab all events. More...

void	InternalReleaseFocus ()
	These methods allow a command to exclusively grab all events. More...

Protected Member Functions inherited from vtkObjectBase
	vtkObjectBase ()

virtual	~vtkObjectBase ()

virtual void	CollectRevisions (ostream &)

	vtkObjectBase (const vtkObjectBase &)

void	operator= (const vtkObjectBase &)

Protected Attributes
vtkCamera *	Camera

bool	CullNearPoints

bool	CullFarPoints

bool	ProduceColorScalars

bool	ProduceVertexCellArray

int	OutputPointsPrecision

Protected Attributes inherited from vtkAlgorithm
vtkInformation *	Information

double	Progress

char *	ProgressText

vtkProgressObserver *	ProgressObserver

unsigned long	ErrorCode
	The error code contains a possible error that occurred while reading or writing the file. More...

Protected Attributes inherited from vtkObject
bool	Debug

vtkTimeStamp	MTime

vtkSubjectHelper *	SubjectHelper

Protected Attributes inherited from vtkObjectBase
vtkAtomicInt32	ReferenceCount

vtkWeakPointerBase **	WeakPointers

typedef vtkPolyDataAlgorithm	Superclass
	Standard instantiation, type and print methods. More...

static vtkDepthImageToPointCloud *	New ()
	Standard instantiation, type and print methods. More...

static int	IsTypeOf (const char *type)
	Standard instantiation, type and print methods. More...

static vtkDepthImageToPointCloud *	SafeDownCast (vtkObjectBase *o)
	Standard instantiation, type and print methods. More...

virtual int	IsA (const char *type)
	Standard instantiation, type and print methods. More...

vtkDepthImageToPointCloud *	NewInstance () const
	Standard instantiation, type and print methods. More...

void	PrintSelf (ostream &os, vtkIndent indent)
	Standard instantiation, type and print methods. More...

virtual vtkObjectBase *	NewInstanceInternal () const
	Standard instantiation, type and print methods. More...

Additional Inherited Members
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

Static Public Member Functions inherited from vtkPolyDataAlgorithm
static vtkPolyDataAlgorithm *	New ()

static int	IsTypeOf (const char *type)

static vtkPolyDataAlgorithm *	SafeDownCast (vtkObjectBase *o)

Static Public Member Functions inherited from vtkAlgorithm
static vtkAlgorithm *	New ()

static int	IsTypeOf (const char *type)

static vtkAlgorithm *	SafeDownCast (vtkObjectBase *o)

static vtkInformationIntegerKey *	INPUT_IS_OPTIONAL ()
	Keys used to specify input port requirements. More...

static vtkInformationIntegerKey *	INPUT_IS_REPEATABLE ()

static vtkInformationInformationVectorKey *	INPUT_REQUIRED_FIELDS ()

static vtkInformationStringVectorKey *	INPUT_REQUIRED_DATA_TYPE ()

static vtkInformationInformationVectorKey *	INPUT_ARRAYS_TO_PROCESS ()

static vtkInformationIntegerKey *	INPUT_PORT ()

static vtkInformationIntegerKey *	INPUT_CONNECTION ()

static vtkInformationIntegerKey *	CAN_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 vtkInformationIntegerKey *	CAN_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 vtkObject *	New ()
	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 ()
	This is a global flag that controls whether any debug, warning or error messages are displayed. More...

static void	GlobalWarningDisplayOff ()
	This is a global flag that controls whether any debug, warning or error messages are displayed. More...

static int	GetGlobalWarningDisplay ()
	This is a global flag that controls whether any debug, warning or error messages are displayed. More...

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 vtkObjectBase *	New ()
	Create an object with Debug turned off, modified time initialized to zero, and reference counting on. More...

Public Attributes inherited from vtkAlgorithm
int	AbortExecute

Static Protected Member Functions inherited from vtkAlgorithm
static vtkInformationIntegerKey *	PORT_REQUIREMENTS_FILLED ()

Static Protected Attributes inherited from vtkAlgorithm
static vtkExecutive *	DefaultExecutivePrototype

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 thru). 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

typedef vtkPolyDataAlgorithm vtkDepthImageToPointCloud::Superclass

Standard instantiation, type and print methods.

Definition at line 88 of file vtkDepthImageToPointCloud.h.

Constructor & Destructor Documentation

vtkDepthImageToPointCloud::vtkDepthImageToPointCloud ( )

protected

vtkDepthImageToPointCloud::~vtkDepthImageToPointCloud ( )

protected

Member Function Documentation

static vtkDepthImageToPointCloud* vtkDepthImageToPointCloud::New ( )

static

Standard instantiation, type and print methods.

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

static

Standard instantiation, type and print methods.

virtual int vtkDepthImageToPointCloud::IsA ( const char * type )

virtual

Standard instantiation, type and print methods.

Reimplemented from vtkPolyDataAlgorithm.

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

static

Standard instantiation, type and print methods.

virtual vtkObjectBase* vtkDepthImageToPointCloud::NewInstanceInternal ( ) const

protectedvirtual

Standard instantiation, type and print methods.

Reimplemented from vtkPolyDataAlgorithm.

vtkDepthImageToPointCloud* vtkDepthImageToPointCloud::NewInstance ( ) const

Standard instantiation, type and print methods.

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

virtual

Standard instantiation, type and print methods.

Reimplemented from vtkPolyDataAlgorithm.

vtkMTimeType vtkDepthImageToPointCloud::GetMTime ( )

virtual

Return the MTime also considering the camera.

Reimplemented from vtkObject.

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.

virtual vtkCamera* vtkDepthImageToPointCloud::GetCamera ( )

virtual

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

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.

virtual bool vtkDepthImageToPointCloud::GetCullNearPoints ( )

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.

virtual void vtkDepthImageToPointCloud::CullNearPointsOn ( )

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.

virtual void vtkDepthImageToPointCloud::CullNearPointsOff ( )

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.

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.

virtual bool vtkDepthImageToPointCloud::GetCullFarPoints ( )

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.

virtual void vtkDepthImageToPointCloud::CullFarPointsOn ( )

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.

virtual void vtkDepthImageToPointCloud::CullFarPointsOff ( )

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.

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.

virtual bool vtkDepthImageToPointCloud::GetProduceColorScalars ( )

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.

virtual void vtkDepthImageToPointCloud::ProduceColorScalarsOn ( )

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.

virtual void vtkDepthImageToPointCloud::ProduceColorScalarsOff ( )

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.

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.

virtual bool vtkDepthImageToPointCloud::GetProduceVertexCellArray ( )

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.

virtual void vtkDepthImageToPointCloud::ProduceVertexCellArrayOn ( )

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.

virtual void vtkDepthImageToPointCloud::ProduceVertexCellArrayOff ( )

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.

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.

virtual int vtkDepthImageToPointCloud::GetOutputPointsPrecision ( )

virtual

Set the desired precision for the output points.

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

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

protectedvirtual

Reimplemented from vtkPolyDataAlgorithm.

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

protectedvirtual

This is called by the superclass.

This is the method you should override.

Reimplemented from vtkPolyDataAlgorithm.

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