Create Depth-Map for vtkDepthImageToPointCloud

Development
8

Hello, here is everything I try to do to create the depth map, but I get an error that I don’t know why, the image is not because I tried with several images, and I have it right in the directory.

#include <iostream>
#include "vtkActor.h"
#include <vtkNamedColors.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
#include <vtkSmartPointer.h>
#include "vtkLight.h"
#include "vtkCamera.h"
#include <vtkDepthImageToPointCloud.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkWindowToImageFilter.h>
#include <vtkAutoInit.h>
#include "vtkTexture.h"
#include <vtkImageViewer2.h>
#include <vtkPNGReader.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
int main(int argc, char* argv[])
{
	vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
	vtkSmartPointer<vtkPNGReader> reader = vtkSmartPointer<vtkPNGReader>::New();
	vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
	vtkSmartPointer<vtkLight> light = vtkSmartPointer<vtkLight>::New();
	vtkSmartPointer<vtkNamedColors> colorsFondo = vtkSmartPointer<vtkNamedColors>::New();
	vtkSmartPointer<vtkNamedColors> colors = vtkSmartPointer<vtkNamedColors>::New();
	vtkSmartPointer<vtkRenderWindowInteractor> interactor = vtkSmartPointer<vtkRenderWindowInteractor>::New();
	vtkSmartPointer<vtkInteractorStyleTrackballCamera> interactorStyle = vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New();
	vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New();
	vtkSmartPointer<vtkRenderWindow> renderWindow = vtkSmartPointer<vtkRenderWindow>::New();
	vtkSmartPointer<vtkRenderer> render = vtkSmartPointer<vtkRenderer>::New();
	vtkSmartPointer<vtkWindowToImageFilter> windowToImageFilter = vtkSmartPointer<vtkWindowToImageFilter>::New();
	//vtkSmartPointer<vtkDepthImageToPointCloud> depthImageToPointCloud = vtkSmartPointer<vtkDepthImageToPointCloud>::New();

	try
	{
	
		reader->SetFileName("foto.png");
		reader->Update();
		
		texture->SetInputConnection(reader->GetOutputPort());
		texture->SetQualityToDefault();
		texture->Update();
		
		camera->SetPosition(0, 0, 500);
		camera->SetFocalPoint(0, 0, 0);

		light->SetPosition(0, 0, 500);
		light->SetDiffuseColor(colors->GetColor3d("White").GetData());
		light->SetSpecularColor(colors->GetColor3d("White").GetData());
		light->SetIntensity(1.0);

		actor->SetTexture(texture);
		actor->SetCoordinateSystemToWorld();
	
		windowToImageFilter->SetInput(renderWindow);
		windowToImageFilter->SetInputBufferTypeToZBuffer();
		windowToImageFilter->SetReadFrontBuffer(false);
		windowToImageFilter->SetProgressShiftScale(-1.0, 0.02);
		windowToImageFilter->Update();

		/*
		depthImageToPointCloud->SetOutputPointsPrecision(0);
		depthImageToPointCloud->SetInputConnection(0, windowToImageFilter->GetOutputPort());
		depthImageToPointCloud->SetCamera(camera);
		depthImageToPointCloud->Update();
		*/
		render->AddActor(actor);
		render->AddLight(light);
		render->GetActiveCamera();
		
		renderWindow->AddRenderer(render);
	
		renderWindow->Render();
		renderWindow->SetSize(800, 800);
		renderWindow->SetWindowName("depth-map image");
		
		interactor->SetInteractorStyle(interactorStyle);
		interactor->SetRenderWindow(renderWindow);

		interactor->Initialize();
		interactor->Start();
		
	}
	catch (const std::exception& e) {
		std::cerr << "Error: " << e.what() << std::endl;
		return EXIT_FAILURE;
	}
	catch (...) {
		std::cerr << "Error desconocido." << std::endl;
		return EXIT_FAILURE;
	}
	return 0;
}

ERROR: In vtkImageData.cxx, line 1548
vtkImageData (000002708AA701A0): GetScalarPointer: Pixel (0, 0, 0) not in memory.
Current extent= (0, -1, 0, -1, 0, 0)