support gray color clouds
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2cbfb04144
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15fd3faa40
@ -151,7 +151,7 @@ cv::viz::WCloud::WCloud(InputArray _cloud, InputArray _colors)
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Mat cloud = _cloud.getMat();
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Mat colors = _colors.getMat();
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CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
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CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
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CV_Assert(colors.depth() == CV_8U && cloud.size() == colors.size());
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if (cloud.isContinuous() && colors.isContinuous())
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{
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@ -388,7 +388,7 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
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Mat cloud = _cloud.getMat();
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Mat colors = _colors.getMat();
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CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
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CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
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CV_Assert(colors.depth() == CV_8U && cloud.size() == colors.size());
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if (cloud.isContinuous() && colors.isContinuous())
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{
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@ -651,7 +651,7 @@ struct cv::viz::WMesh::CopyImpl
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cv::viz::WMesh::WMesh(const Mesh3d &mesh)
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{
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CV_Assert(mesh.cloud.rows == 1 && (mesh.cloud.type() == CV_32FC3 || mesh.cloud.type() == CV_64FC3 || mesh.cloud.type() == CV_32FC4 || mesh.cloud.type() == CV_64FC4));
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CV_Assert(mesh.colors.empty() || (mesh.colors.type() == CV_8UC3 && mesh.cloud.size() == mesh.colors.size()));
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CV_Assert(mesh.colors.empty() || (mesh.colors.depth() == CV_8U && mesh.cloud.size() == mesh.colors.size()));
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CV_Assert(!mesh.polygons.empty() && mesh.polygons.type() == CV_32SC1);
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vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
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@ -680,8 +680,7 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
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if (!mesh.colors.empty())
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{
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Vec3b * colors_data = 0;
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colors_data = new Vec3b[nr_points];
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Vec3b *colors_data = new Vec3b[nr_points];
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NanFilter::copyColor(mesh.colors, colors_data, mesh.cloud);
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scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
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@ -191,14 +191,29 @@ namespace cv
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vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix(const cv::Matx44f &m);
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cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix);
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struct color_tag {};
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struct gray_tag {};
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static Vec3b fetchRgb(const unsigned char* color, color_tag) { return Vec3b(color[2], color[1], color[0]); }
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static Vec3b fetchRgb(const unsigned char* color, gray_tag) { return Vec3b(color[0], color[0], color[0]); }
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inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
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template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
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inline Color vtkcolor(const Color& color)
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{
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Color scaled_color = color * (1.0/255.0);
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std::swap(scaled_color[0], scaled_color[2]);
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return scaled_color;
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}
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struct NanFilter
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{
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template<typename _Tp, typename _Msk>
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template<typename _Msk>
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struct Impl
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{
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typedef Vec<_Tp, 3> _Out;
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static _Out* copy(const Mat& source, _Out* output, const Mat& nan_mask)
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template<typename _Tp>
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static Vec<_Tp, 3>* copy(const Mat& source, Vec<_Tp, 3>* output, const Mat& nan_mask)
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{
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CV_Assert(DataDepth<_Tp>::value == source.depth() && source.size() == nan_mask.size());
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CV_Assert(nan_mask.channels() == 3 || nan_mask.channels() == 4);
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@ -214,14 +229,15 @@ namespace cv
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for (int x = 0; x < source.cols; ++x, srow += s_chs, mrow += m_chs)
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if (!isNan(mrow[0]) && !isNan(mrow[1]) && !isNan(mrow[2]))
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*output++ = _Out(srow);
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*output++ = Vec<_Tp, 3>(srow);
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}
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return output;
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}
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static _Out* copyColor(const Mat& source, _Out* output, const Mat& nan_mask)
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template<typename _Tag>
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static Vec3b* copyColor(const Mat& source, Vec3b* output, const Mat& nan_mask)
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{
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CV_Assert(DataDepth<_Tp>::value == source.depth() && source.size() == nan_mask.size());
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CV_Assert(source.size() == nan_mask.size());
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CV_Assert(nan_mask.channels() == 3 || nan_mask.channels() == 4);
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CV_DbgAssert(DataDepth<_Msk>::value == nan_mask.depth());
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@ -230,16 +246,12 @@ namespace cv
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for (int y = 0; y < source.rows; ++y)
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{
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const _Tp* srow = source.ptr<_Tp>(y);
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const unsigned char* srow = source.ptr<unsigned char>(y);
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const _Msk* mrow = nan_mask.ptr<_Msk>(y);
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for (int x = 0; x < source.cols; ++x, srow += s_chs, mrow += m_chs)
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if (!isNan(mrow[0]) && !isNan(mrow[1]) && !isNan(mrow[2]))
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{
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*output = _Out(srow);
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std::swap((*output)[0], (*output)[2]); // BGR -> RGB
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++output;
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}
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*output++ = fetchRgb(srow, _Tag());
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}
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return output;
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}
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@ -251,20 +263,23 @@ namespace cv
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CV_Assert(nan_mask.depth() == CV_32F || nan_mask.depth() == CV_64F);
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typedef Vec<_Tp, 3>* (*copy_func)(const Mat&, Vec<_Tp, 3>*, const Mat&);
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const static copy_func table[2] = { &NanFilter::Impl<_Tp, float>::copy, &NanFilter::Impl<_Tp, double>::copy };
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const static copy_func table[2] = { &NanFilter::Impl<float>::copy<_Tp>, &NanFilter::Impl<double>::copy<_Tp> };
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return table[nan_mask.depth() - 5](source, output, nan_mask);
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}
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template<typename _Tp>
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static inline Vec<_Tp, 3>* copyColor(const Mat& source, Vec<_Tp, 3>* output, const Mat& nan_mask)
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static inline Vec3b* copyColor(const Mat& source, Vec3b* output, const Mat& nan_mask)
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{
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CV_Assert(nan_mask.depth() == CV_32F || nan_mask.depth() == CV_64F);
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typedef Vec<_Tp, 3>* (*copy_func)(const Mat&, Vec<_Tp, 3>*, const Mat&);
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const static copy_func table[2] = { &NanFilter::Impl<_Tp, float>::copyColor, &NanFilter::Impl<_Tp, double>::copyColor };
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typedef Vec3b* (*copy_func)(const Mat&, Vec3b*, const Mat&);
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const static copy_func table[2][2] =
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{
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{ &NanFilter::Impl<float >::copyColor<gray_tag>, &NanFilter::Impl<float> ::copyColor<color_tag> },
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{ &NanFilter::Impl<double>::copyColor<gray_tag>, &NanFilter::Impl<double>::copyColor<color_tag> }
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};
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return table[nan_mask.depth() - 5](source, output, nan_mask);
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return table[nan_mask.depth() - 5][source.channels() == 1 ? 0 : 1](source, output, nan_mask);
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}
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};
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@ -292,47 +307,31 @@ namespace cv
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};
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inline Color vtkcolor(const Color& color)
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{
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Color scaled_color = color * (1.0/255.0);
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std::swap(scaled_color[0], scaled_color[2]);
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return scaled_color;
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}
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inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
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template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
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struct ConvertToVtkImage
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{
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struct Impl
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{
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static void copyImageMultiChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
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{
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int i_chs = image.channels();
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typedef unsigned char uchar;
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for (int i = 0; i < image.rows; ++i)
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static void copyImage(const Mat &source, vtkSmartPointer<vtkImageData> output, color_tag tag)
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{
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for (int y = 0; y < source.rows; ++y)
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{
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const unsigned char * irows = image.ptr<unsigned char>(i);
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for (int j = 0; j < image.cols; ++j, irows += i_chs)
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{
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unsigned char * vrows = static_cast<unsigned char *>(output->GetScalarPointer(j,i,0));
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memcpy(vrows, irows, i_chs);
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std::swap(vrows[0], vrows[2]); // BGR -> RGB
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}
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const uchar *srow = source.ptr<uchar>(y);
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for (int x = 0; x < source.cols; ++x, srow += source.channels())
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*reinterpret_cast<Vec3b*>(output->GetScalarPointer(x,y,0)) = fetchRgb(srow, tag);
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}
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output->Modified();
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}
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static void copyImageSingleChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
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static void copyImage(const Mat &source, vtkSmartPointer<vtkImageData> output, gray_tag)
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{
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for (int i = 0; i < image.rows; ++i)
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for (int y = 0; y < source.rows; ++y)
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{
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const unsigned char * irows = image.ptr<unsigned char>(i);
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for (int j = 0; j < image.cols; ++j, ++irows)
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{
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unsigned char * vrows = static_cast<unsigned char *>(output->GetScalarPointer(j,i,0));
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*vrows = *irows;
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}
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const uchar *srow = source.ptr<uchar>(y);
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for (int x = 0; x < source.cols; ++x)
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*reinterpret_cast<uchar*>(output->GetScalarPointer(x,y,0)) = *srow++;
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}
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output->Modified();
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}
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@ -349,16 +348,13 @@ namespace cv
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#else
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output->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
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#endif
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int i_chs = image.channels();
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if (i_chs > 1)
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switch(image.channels())
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{
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// Multi channel images are handled differently because of BGR <-> RGB
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Impl::copyImageMultiChannel(image, output);
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}
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else
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{
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Impl::copyImageSingleChannel(image, output);
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case 1: Impl::copyImage(image, output, gray_tag()); break;
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case 3:
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case 4: Impl::copyImage(image, output, color_tag()); break;
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default:
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CV_Assert(!"Unsupported channel number");
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}
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}
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};
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