Point Cloud Library (PCL)  1.11.0-dev
shapes.hpp
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38 
39 #pragma once
40 
41 #include <vtkSmartPointer.h>
42 #include <vtkPoints.h>
43 #include <vtkPolygon.h>
44 #include <vtkUnstructuredGrid.h>
45 
46 
47 namespace pcl
48 {
49 
50 namespace visualization
51 {
52 
53 template <typename PointT> vtkSmartPointer<vtkDataSet>
55 {
57  if (cloud->points.empty ())
58  return (poly_grid);
59 
62 
63  poly_points->SetNumberOfPoints (cloud->points.size ());
64  polygon->GetPointIds ()->SetNumberOfIds (cloud->points.size ());
65 
66  for (std::size_t i = 0; i < cloud->points.size (); ++i)
67  {
68  poly_points->SetPoint (i, cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
69  polygon->GetPointIds ()->SetId (i, i);
70  }
71 
72  allocVtkUnstructuredGrid (poly_grid);
73  poly_grid->Allocate (1, 1);
74  poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
75  poly_grid->SetPoints (poly_points);
76 
77  return (poly_grid);
78 }
79 
80 
81 template <typename PointT> vtkSmartPointer<vtkDataSet>
83 {
85  if (planar_polygon.getContour ().empty ())
86  return (poly_grid);
87 
90 
91  poly_points->SetNumberOfPoints (planar_polygon.getContour ().size () + 1);
92  polygon->GetPointIds ()->SetNumberOfIds (planar_polygon.getContour ().size () + 1);
93 
94  for (std::size_t i = 0; i < planar_polygon.getContour ().size (); ++i)
95  {
96  poly_points->SetPoint (i, planar_polygon.getContour ()[i].x,
97  planar_polygon.getContour ()[i].y,
98  planar_polygon.getContour ()[i].z);
99  polygon->GetPointIds ()->SetId (i, i);
100  }
101 
102  std::size_t closingContourId = planar_polygon.getContour ().size ();
103  auto firstContour = planar_polygon.getContour ()[0];
104  poly_points->SetPoint (closingContourId, firstContour.x,
105  firstContour.y,
106  firstContour.z);
107  polygon->GetPointIds ()->SetId (closingContourId, closingContourId);
108 
109  allocVtkUnstructuredGrid (poly_grid);
110  poly_grid->Allocate (1, 1);
111  poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
112  poly_grid->SetPoints (poly_points);
113 
114  return (poly_grid);
115 }
116 
117 } // namespace visualization
118 } // namespace pcl
119 
pcl
Definition: convolution.h:46
pcl::PointCloud::points
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:411
pcl::visualization::allocVtkUnstructuredGrid
PCL_EXPORTS void allocVtkUnstructuredGrid(vtkSmartPointer< vtkUnstructuredGrid > &polydata)
Allocate a new unstructured grid smartpointer.
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::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:430
pcl::PlanarPolygon
PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
Definition: planar_polygon.h:54
vtkSmartPointer
Definition: actor_map.h:51
pcl::PlanarPolygon::getContour
pcl::PointCloud< PointT >::VectorType & getContour()
Getter for the contour / boundary.
Definition: planar_polygon.h:87