shapes.h

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#pragma once
 
#include <pcl/point_cloud.h>
 
template <typename T> class vtkSmartPointer;
class vtkDataSet;
class vtkUnstructuredGrid;
 
/**
  * \file pcl/visualization/common/shapes.h
  * Define methods or creating 3D shapes from parametric models
  * \ingroup visualization
  */
 
/*@{*/
namespace pcl
{
  struct ModelCoefficients;
  template <typename PointT> class PlanarPolygon;
 
  namespace visualization
  {
    /** \brief Create a 3d poly line from a set of points. 
      * \param[in] cloud the set of points used to create the 3d polyline
      * \ingroup visualization
      */
    template <typename PointT> vtkSmartPointer<vtkDataSet> inline 
    createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud);
 
    /** \brief Create a 3d poly line from a set of points on the boundary of a planar region. 
      * \param[in] planar_polygon the set of points used to create the 3d polyline
      * \ingroup visualization
      */
    template <typename PointT> vtkSmartPointer<vtkDataSet> inline 
    createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon);
 
    /** \brief Create a line shape from two points
      * \param[in] pt1 the first point on the line
      * \param[in] pt2 the end point on the line
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2);
 
    /** \brief Create a sphere shape from a point and a radius
      * \param[in] center the center of the sphere (as an Eigen Vector4f, with only the first 3 coordinates used)
      * \param[in] radius the radius of the sphere
      * \param[in] res (optional) the resolution used for rendering the model
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet>
    createSphere (const Eigen::Vector4f &center, double radius, int res = 10);
 
    /** \brief Create a cylinder shape from a set of model coefficients.
      * \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
      * \param[in] numsides (optional) the number of sides used for rendering the cylinder
      *
      * \code
      * // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder)
      * // Eigen::Vector3f pt_on_axis, axis_direction;
      * // float radius;
      *
      * pcl::ModelCoefficients cylinder_coeff;
      * cylinder_coeff.values.resize (7);    // We need 7 values
      * cylinder_coeff.values[0] = pt_on_axis.x ();
      * cylinder_coeff.values[1] = pt_on_axis.y ();
      * cylinder_coeff.values[2] = pt_on_axis.z ();
      *
      * cylinder_coeff.values[3] = axis_direction.x ();
      * cylinder_coeff.values[4] = axis_direction.y ();
      * cylinder_coeff.values[5] = axis_direction.z ();
      *
      * cylinder_coeff.values[6] = radius;
      *
      * vtkSmartPointer<vtkDataSet> data = pcl::visualization::createCylinder (cylinder_coeff, numsides);
      * \endcode
      *
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCylinder (const pcl::ModelCoefficients &coefficients, int numsides = 30);
 
    /** \brief Create a sphere shape from a set of model coefficients.
      * \param[in] coefficients the model coefficients (sphere center, radius)
      * \param[in] res (optional) the resolution used for rendering the model
      *
      * \code
      * // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelSphere)
      * // Eigen::Vector3f sphere_center;
      * // float radius;
      *
      * pcl::ModelCoefficients sphere_coeff;
      * sphere_coeff.values.resize (4);    // We need 4 values
      * sphere_coeff.values[0] = sphere_center.x ();
      * sphere_coeff.values[1] = sphere_center.y ();
      * sphere_coeff.values[2] = sphere_center.z ();
      *
      * sphere_coeff.values[3] = radius;
      *
      * vtkSmartPointer<vtkDataSet> data = pcl::visualization::createSphere (sphere_coeff, resolution);
      * \endcode
      *
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createSphere (const pcl::ModelCoefficients &coefficients, int res = 10);
 
    /** \brief Create a line shape from a set of model coefficients.
      * \param[in] coefficients the model coefficients (point_on_line, line_direction)
      * 
      * \code
      * // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelLine)
      * // Eigen::Vector3f point_on_line, line_direction;
      *
      * pcl::ModelCoefficients line_coeff;
      * line_coeff.values.resize (6);    // We need 6 values
      * line_coeff.values[0] = point_on_line.x ();
      * line_coeff.values[1] = point_on_line.y ();
      * line_coeff.values[2] = point_on_line.z ();
      *
      * line_coeff.values[3] = line_direction.x ();
      * line_coeff.values[4] = line_direction.y ();
      * line_coeff.values[5] = line_direction.z ();
      *
      * vtkSmartPointer<vtkDataSet> data = pcl::visualization::createLine (line_coeff);
      * \endcode
      *
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createLine (const pcl::ModelCoefficients &coefficients);
 
    /** \brief Create a planar shape from a set of model coefficients.
      * \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
      *
      * \code
      * // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)
      * // Eigen::Vector4f plane_parameters;
      *
      * pcl::ModelCoefficients plane_coeff;
      * plane_coeff.values.resize (4);    // We need 4 values
      * plane_coeff.values[0] = plane_parameters.x ();
      * plane_coeff.values[1] = plane_parameters.y ();
      * plane_coeff.values[2] = plane_parameters.z ();
      * plane_coeff.values[3] = plane_parameters.w ();
      *
      * vtkSmartPointer<vtkDataSet> data = pcl::visualization::createPlane (plane_coeff);
      * \endcode
      *
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createPlane (const pcl::ModelCoefficients &coefficients);
 
    /** \brief Create a planar shape from a set of model coefficients.
      * \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
      * \param[in] x,y,z projection of this point on the plane is used to get the center of the plane.
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createPlane (const pcl::ModelCoefficients &coefficients, double x, double y, double z);
    
    /** \brief Create a 2d circle shape from a set of model coefficients.
      * \param[in] coefficients the model coefficients (x, y, radius)
      * \param[in] z (optional) specify a z value (default: 0)
      *
      * \code
      * // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)
      * // float x, y, radius;
      *
      * pcl::ModelCoefficients circle_coeff;
      * circle_coeff.values.resize (3);    // We need 3 values
      * circle_coeff.values[0] = x;
      * circle_coeff.values[1] = y;
      * circle_coeff.values[2] = radius;
      *
      * vtkSmartPointer<vtkDataSet> data = pcl::visualization::create2DCircle (circle_coeff, z);
      * \endcode
      *
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    create2DCircle (const pcl::ModelCoefficients &coefficients, double z = 0.0);
 
    /** \brief Create a cone shape from a set of model coefficients.
      * \param[in] coefficients the cone coefficients (cone_apex, axis_direction, angle)
      *
      * \code
      * // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCone)
      * // Eigen::Vector3f cone_apex, axis_direction;
      * // float angle;
      * // Note: The height of the cone is set using the magnitude of the axis_direction vector.
      *
      * pcl::ModelCoefficients cone_coeff;
      * cone_coeff.values.resize (7);    // We need 7 values
      * cone_coeff.values[0] = cone_apex.x ();
      * cone_coeff.values[1] = cone_apex.y ();
      * cone_coeff.values[2] = cone_apex.z ();
      * cone_coeff.values[3] = axis_direction.x ();
      * cone_coeff.values[4] = axis_direction.y ();
      * cone_coeff.values[5] = axis_direction.z ();
      * cone_coeff.values[6] = angle (); // degrees
      *
      * vtkSmartPointer<vtkDataSet> data = pcl::visualization::createCone (cone_coeff);
      * \endcode
      *
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCone (const pcl::ModelCoefficients &coefficients);
 
    /** \brief Create a cube shape from a set of model coefficients.
      * \param[in] coefficients the cube coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
      * \ingroup visualization 
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCube (const pcl::ModelCoefficients &coefficients);
 
    /** \brief Create a cube shape from a set of model coefficients.
      *
      * \param[in] translation a translation to apply to the cube from 0,0,0
      * \param[in] rotation a quaternion-based rotation to apply to the cube 
      * \param[in] width the cube's width
      * \param[in] height the cube's height
      * \param[in] depth the cube's depth
      * \ingroup visualization 
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation,
                double width, double height, double depth);
    
    /** \brief Create a cube from a set of bounding points
      * \param[in] x_min is the minimum x value of the box
      * \param[in] x_max is the maximum x value of the box
      * \param[in] y_min is the minimum y value of the box 
      * \param[in] y_max is the maximum y value of the box
      * \param[in] z_min is the minimum z value of the box
      * \param[in] z_max is the maximum z value of the box
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCube (double x_min, double x_max,
                double y_min, double y_max,
                double z_min, double z_max);
 
    /** \brief Create an ellipsoid shape from the given parameters.
      *
      * \param[in] transform a transformation to apply to the ellipsoid from 0,0,0
      * \param[in] radius_x the ellipsoid's radius along its local x-axis
      * \param[in] radius_y the ellipsoid's radius along its local y-axis
      * \param[in] radius_z the ellipsoid's radius along its local z-axis
      * \ingroup visualization
      */
    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createEllipsoid (const Eigen::Isometry3d &transform,
                     double radius_x, double radius_y, double radius_z);
    
    /** \brief Allocate a new unstructured grid smartpointer. For internal use only.
      * \param[out] polydata the resultant unstructured grid. 
      */
    PCL_EXPORTS void
    allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
  }
}
/*@}*/
 
#include <pcl/visualization/common/impl/shapes.hpp>