/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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#pragma once
#include <vtkSmartPointer.h>
#include <vtkPoints.h>
#include <vtkPolygon.h>
#include <vtkUnstructuredGrid.h>

////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> vtkSmartPointer<vtkDataSet> 
pcl::visualization::createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
{
  vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
  if (cloud->points.empty ())
    return (poly_grid);

  vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
  vtkSmartPointer<vtkPolygon> polygon    = vtkSmartPointer<vtkPolygon>::New ();

  poly_points->SetNumberOfPoints (cloud->points.size ());
  polygon->GetPointIds ()->SetNumberOfIds (cloud->points.size ());

  size_t i;
  for (i = 0; i < cloud->points.size (); ++i)
  {
    poly_points->SetPoint (i, cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
    polygon->GetPointIds ()->SetId (i, i);
  }

  allocVtkUnstructuredGrid (poly_grid);
  poly_grid->Allocate (1, 1);
  poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
  poly_grid->SetPoints (poly_points);
  poly_grid->Update ();

  return (poly_grid);
}

////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> vtkSmartPointer<vtkDataSet> 
pcl::visualization::createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon)
{
  vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
  if (planar_polygon.getContour ().empty ())
    return (poly_grid);

  vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
  vtkSmartPointer<vtkPolygon> polygon    = vtkSmartPointer<vtkPolygon>::New ();

  poly_points->SetNumberOfPoints (planar_polygon.getContour ().size () + 1);
  polygon->GetPointIds ()->SetNumberOfIds (planar_polygon.getContour ().size () + 1);

  size_t i;
  for (i = 0; i < planar_polygon.getContour ().size (); ++i)
  {
    poly_points->SetPoint (i, planar_polygon.getContour ()[i].x, 
                              planar_polygon.getContour ()[i].y, 
                              planar_polygon.getContour ()[i].z);
    polygon->GetPointIds ()->SetId (i, i);
  }

  poly_points->SetPoint (i, planar_polygon.getContour ()[0].x, 
                            planar_polygon.getContour ()[0].y, 
                            planar_polygon.getContour ()[0].z);
  polygon->GetPointIds ()->SetId (i, i);
  
  allocVtkUnstructuredGrid (poly_grid);
  poly_grid->Allocate (1, 1);
  poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
  poly_grid->SetPoints (poly_points);
  poly_grid->Update ();

  return (poly_grid);
}

