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 * $Id: point_cloud_handlers.hpp 7678 2012-10-22 20:54:04Z rusu $
 *
 */
#ifndef PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_
#define PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_

#include <pcl/pcl_macros.h>

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT>
pcl::visualization::PointCloudGeometryHandlerXYZ<PointT>::PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud) 
  : pcl::visualization::PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
{
  field_x_idx_ = pcl::getFieldIndex (*cloud, "x", fields_);
  if (field_x_idx_ == -1)
    return;
  field_y_idx_ = pcl::getFieldIndex (*cloud, "y", fields_);
  if (field_y_idx_ == -1)
    return;
  field_z_idx_ = pcl::getFieldIndex (*cloud, "z", fields_);
  if (field_z_idx_ == -1)
    return;
  capable_ = true;
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void 
pcl::visualization::PointCloudGeometryHandlerXYZ<PointT>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;

  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();

  vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
  data->SetNumberOfComponents (3);
  vtkIdType nr_points = cloud_->points.size ();

  // Add all points
  vtkIdType j = 0;    // true point index
  float* pts = static_cast<float*> (malloc (nr_points * 3 * sizeof (float)));

  // If the dataset has no invalid values, just copy all of them
  if (cloud_->is_dense)
  {
    for (vtkIdType i = 0; i < nr_points; ++i)
    {
      pts[i * 3 + 0] = cloud_->points[i].x;
      pts[i * 3 + 1] = cloud_->points[i].y;
      pts[i * 3 + 2] = cloud_->points[i].z;
    }
    data->SetArray (&pts[0], nr_points * 3, 0);
    points->SetData (data);
  }
  // Need to check for NaNs, Infs, ec
  else
  {
    for (vtkIdType i = 0; i < nr_points; ++i)
    {
      // Check if the point is invalid
      if (!pcl_isfinite (cloud_->points[i].x) || !pcl_isfinite (cloud_->points[i].y) || !pcl_isfinite (cloud_->points[i].z))
        continue;

      pts[j * 3 + 0] = cloud_->points[i].x;
      pts[j * 3 + 1] = cloud_->points[i].y;
      pts[j * 3 + 2] = cloud_->points[i].z;
      // Set j and increment
      j++;
    }
    data->SetArray (&pts[0], j * 3, 0);
    points->SetData (data);
  }
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT>
pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<PointT>::PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud) 
  : pcl::visualization::PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
{
  field_x_idx_ = pcl::getFieldIndex (*cloud, "normal_x", fields_);
  if (field_x_idx_ == -1)
    return;
  field_y_idx_ = pcl::getFieldIndex (*cloud, "normal_y", fields_);
  if (field_y_idx_ == -1)
    return;
  field_z_idx_ = pcl::getFieldIndex (*cloud, "normal_z", fields_);
  if (field_z_idx_ == -1)
    return;
  capable_ = true;
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void 
pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<PointT>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;

  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();
  points->SetNumberOfPoints (cloud_->points.size ());

  // Add all points
  double p[3];
  for (vtkIdType i = 0; i < static_cast<vtkIdType> (cloud_->points.size ()); ++i)
  {
    p[0] = cloud_->points[i].normal[0];
    p[1] = cloud_->points[i].normal[1];
    p[2] = cloud_->points[i].normal[2];

    points->SetPoint (i, p);
  }
}

#define PCL_INSTANTIATE_PointCloudGeometryHandlerXYZ(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerXYZ<T>;
#define PCL_INSTANTIATE_PointCloudGeometryHandlerSurfaceNormal(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<T>;

#endif      // PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_

