Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of Willow Garage, Inc. nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 00039 #pragma once 00040 #include <vtkSmartPointer.h> 00041 #include <vtkPoints.h> 00042 #include <vtkPolygon.h> 00043 #include <vtkUnstructuredGrid.h> 00044 00045 //////////////////////////////////////////////////////////////////////////////////////////// 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 00075 //////////////////////////////////////////////////////////////////////////////////////////// 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