shapes.hpp
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00001 /*
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00038 
00039 #pragma once
00040 #include <vtkSmartPointer.h>
00041 #include <vtkPoints.h>
00042 #include <vtkPolygon.h>
00043 #include <vtkUnstructuredGrid.h>
00044 
00046 template <typename PointT> vtkSmartPointer<vtkDataSet> 
00047 pcl::visualization::createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
00048 {
00049   vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
00050   if (cloud->points.empty ())
00051     return (poly_grid);
00052 
00053   vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
00054   vtkSmartPointer<vtkPolygon> polygon    = vtkSmartPointer<vtkPolygon>::New ();
00055 
00056   poly_points->SetNumberOfPoints (cloud->points.size ());
00057   polygon->GetPointIds ()->SetNumberOfIds (cloud->points.size ());
00058 
00059   size_t i;
00060   for (i = 0; i < cloud->points.size (); ++i)
00061   {
00062     poly_points->SetPoint (i, cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
00063     polygon->GetPointIds ()->SetId (i, i);
00064   }
00065 
00066   allocVtkUnstructuredGrid (poly_grid);
00067   poly_grid->Allocate (1, 1);
00068   poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
00069   poly_grid->SetPoints (poly_points);
00070   poly_grid->Update ();
00071 
00072   return (poly_grid);
00073 }
00074 
00076 template <typename PointT> vtkSmartPointer<vtkDataSet> 
00077 pcl::visualization::createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon)
00078 {
00079   vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
00080   if (planar_polygon.getContour ().empty ())
00081     return (poly_grid);
00082 
00083   vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
00084   vtkSmartPointer<vtkPolygon> polygon    = vtkSmartPointer<vtkPolygon>::New ();
00085 
00086   poly_points->SetNumberOfPoints (planar_polygon.getContour ().size () + 1);
00087   polygon->GetPointIds ()->SetNumberOfIds (planar_polygon.getContour ().size () + 1);
00088 
00089   size_t i;
00090   for (i = 0; i < planar_polygon.getContour ().size (); ++i)
00091   {
00092     poly_points->SetPoint (i, planar_polygon.getContour ()[i].x, 
00093                               planar_polygon.getContour ()[i].y, 
00094                               planar_polygon.getContour ()[i].z);
00095     polygon->GetPointIds ()->SetId (i, i);
00096   }
00097 
00098   poly_points->SetPoint (i, planar_polygon.getContour ()[0].x, 
00099                             planar_polygon.getContour ()[0].y, 
00100                             planar_polygon.getContour ()[0].z);
00101   polygon->GetPointIds ()->SetId (i, i);
00102   
00103   allocVtkUnstructuredGrid (poly_grid);
00104   poly_grid->Allocate (1, 1);
00105   poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
00106   poly_grid->SetPoints (poly_points);
00107   poly_grid->Update ();
00108 
00109   return (poly_grid);
00110 }
00111 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:33:37