shapes.hpp

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 * $Id: shapes.hpp 31665 2010-08-09 19:37:27Z rusu $
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template <typename PointT> vtkSmartPointer<vtkDataSet> 
  pcl_visualization::createPolygon (const pcl::PointCloud<PointT> &cloud)
{
  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->InsertPoint (i, cloud.points[i].x, cloud.points[i].y, cloud.points[i].z);
    polygon->GetPointIds ()->SetId (i, i);
  }

  vtkSmartPointer<vtkUnstructuredGrid> poly_grid = vtkSmartPointer<vtkUnstructuredGrid>::New ();
  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 P1, typename P2> vtkSmartPointer<vtkDataSet>
  pcl_visualization::createLine (const P1 &pt1, const P2 &pt2)
{
  vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
  line->SetPoint1 (pt1.x, pt1.y, pt1.z);
  line->SetPoint2 (pt2.x, pt2.y, pt2.z);
  line->Update ();

  return (line->GetOutput ());
}


template <typename PointT> vtkSmartPointer<vtkDataSet> 
  pcl_visualization::createSphere (const PointT &center, double radius, int res)
{
  // Set the sphere origin
  vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New ();
  t->Identity (); t->Translate (center.x, center.y, center.z);

  vtkSmartPointer<vtkSphereSource> s_sphere = vtkSmartPointer<vtkSphereSource>::New ();
  s_sphere->SetRadius (radius);
  s_sphere->SetPhiResolution (res);
  s_sphere->SetThetaResolution (res);
  s_sphere->LatLongTessellationOff ();
  
  vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
  tf->SetTransform (t);
  tf->SetInputConnection (s_sphere->GetOutputPort ());
  tf->Update ();

  return (tf->GetOutput ());
}

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pcl_visualization
Author(s): Radu Bogdan Rusu, Bastian Steder, Ethan Rublee
autogenerated on Fri Jan 11 09:59:11 2013