1/*M///////////////////////////////////////////////////////////////////////////////////////
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10//                           License Agreement
11//                For Open Source Computer Vision Library
12//
13// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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40// Authors:
41//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
42//
43//M*/
44
45#ifndef __vtkCloudMatSource_h
46#define __vtkCloudMatSource_h
47
48#include <opencv2/core.hpp>
49#include <vtkPolyDataAlgorithm.h>
50#include <vtkSmartPointer.h>
51#include <vtkPoints.h>
52#include <vtkCellArray.h>
53
54namespace cv
55{
56    namespace viz
57    {
58        class vtkCloudMatSource : public vtkPolyDataAlgorithm
59        {
60        public:
61            static vtkCloudMatSource *New();
62            vtkTypeMacro(vtkCloudMatSource,vtkPolyDataAlgorithm)
63
64            virtual int SetCloud(InputArray cloud);
65            virtual int SetColorCloud(InputArray cloud, InputArray colors);
66            virtual int SetColorCloudNormals(InputArray cloud, InputArray colors, InputArray normals);
67            virtual int SetColorCloudNormalsTCoords(InputArray cloud, InputArray colors, InputArray normals, InputArray tcoords);
68
69        protected:
70            vtkCloudMatSource();
71            ~vtkCloudMatSource();
72
73            int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *);
74
75            vtkSmartPointer<vtkPoints> points;
76            vtkSmartPointer<vtkCellArray> vertices;
77            vtkSmartPointer<vtkUnsignedCharArray> scalars;
78            vtkSmartPointer<vtkDataArray> normals;
79            vtkSmartPointer<vtkDataArray> tcoords;
80        private:
81            vtkCloudMatSource(const vtkCloudMatSource&);  // Not implemented.
82            void operator=(const vtkCloudMatSource&);  // Not implemented.
83
84            template<typename _Tp> int filterNanCopy(const Mat& cloud);
85            template<typename _Msk> void filterNanColorsCopy(const Mat& cloud_colors, const Mat& mask, int total);
86
87            template<typename _Tn, typename _Msk>
88            void filterNanNormalsCopy(const Mat& cloud_normals, const Mat& mask, int total);
89
90            template<typename _Tn, typename _Msk>
91            void filterNanTCoordsCopy(const Mat& tcoords, const Mat& mask, int total);
92        };
93    }
94}
95
96#endif
97