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00039 #ifndef PCL_PCL_VISUALIZER_SHAPES_H_
00040 #define PCL_PCL_VISUALIZER_SHAPES_H_
00041
00042 #include <Eigen/Geometry>
00043 #include <pcl/ModelCoefficients.h>
00044 #include <pcl/point_cloud.h>
00045 #include <pcl/visualization/vtk.h>
00046 #include <pcl/geometry/planar_polygon.h>
00047
00055 namespace pcl
00056 {
00057 namespace visualization
00058 {
00063 template <typename PointT> vtkSmartPointer<vtkDataSet> inline
00064 createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud);
00065
00070 template <typename PointT> vtkSmartPointer<vtkDataSet> inline
00071 createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon);
00072
00078 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00079 createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2);
00080
00087 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00088 createSphere (const Eigen::Vector4f ¢er, double radius, int res = 10);
00089
00116 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00117 createCylinder (const pcl::ModelCoefficients &coefficients, int numsides = 30);
00118
00141 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00142 createSphere (const pcl::ModelCoefficients &coefficients, int res = 10);
00143
00166 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00167 createLine (const pcl::ModelCoefficients &coefficients);
00168
00188 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00189 createPlane (const pcl::ModelCoefficients &coefficients);
00190
00210 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00211 create2DCircle (const pcl::ModelCoefficients &coefficients, double z = 0.0);
00212
00217 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00218 createCone (const pcl::ModelCoefficients &coefficients);
00219
00224 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00225 createCube (const pcl::ModelCoefficients &coefficients);
00226
00236 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00237 createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation,
00238 double width, double height, double depth);
00239
00250 PCL_EXPORTS vtkSmartPointer<vtkDataSet>
00251 createCube (double x_min, double x_max,
00252 double y_min, double y_max,
00253 double z_min, double z_max);
00254
00258 PCL_EXPORTS void
00259 allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
00260 }
00261 }
00264 #include <pcl/visualization/common/impl/shapes.hpp>
00265
00266 #endif