shapes.hpp
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#pragma once
#include <vtkSmartPointer.h>
#include <vtkPoints.h>
#include <vtkPolygon.h>
#include <vtkUnstructuredGrid.h>
namespace pcl
{
namespace visualization
{
template <typename PointT> vtkSmartPointer<vtkDataSet>
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->size ());
polygon->GetPointIds ()->SetNumberOfIds (cloud->size ());
for (std::size_t i = 0; i < cloud->size (); ++i)
{
poly_points->SetPoint (i, (*cloud)[i].x, (*cloud)[i].y, (*cloud)[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);
return (poly_grid);
}
template <typename PointT> vtkSmartPointer<vtkDataSet>
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);
for (std::size_t 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);
}
std::size_t closingContourId = planar_polygon.getContour ().size ();
auto firstContour = planar_polygon.getContour ()[0];
poly_points->SetPoint (closingContourId, firstContour.x,
firstContour.y,
firstContour.z);
polygon->GetPointIds ()->SetId (closingContourId, closingContourId);
allocVtkUnstructuredGrid (poly_grid);
poly_grid->Allocate (1, 1);
poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
poly_grid->SetPoints (poly_points);
return (poly_grid);
}
} // namespace visualization
} // namespace pcl
pcl::PlanarPolygon
PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
Definition: planar_polygon.h:52
pcl::PlanarPolygon::getContour
pcl::PointCloud< PointT >::VectorType & getContour()
Getter for the contour / boundary.
Definition: planar_polygon.h:83
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:443
pcl::PointCloud::points
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:395
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
vtkSmartPointer
Definition: actor_map.h:51
pcl::visualization::createPolygon
vtkSmartPointer< vtkDataSet > createPolygon(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Create a 3d poly line from a set of points.
Definition: shapes.hpp:54
pcl::visualization::allocVtkUnstructuredGrid
PCL_EXPORTS void allocVtkUnstructuredGrid(vtkSmartPointer< vtkUnstructuredGrid > &polydata)
Allocate a new unstructured grid smartpointer.
pcl
Definition: convolution.h:46