306 lines
13 KiB
C
306 lines
13 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/point_cloud.h>
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template <typename T> class vtkSmartPointer;
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class vtkDataSet;
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class vtkUnstructuredGrid;
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/**
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* \file pcl/visualization/common/shapes.h
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* Define methods or creating 3D shapes from parametric models
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* \ingroup visualization
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*/
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/*@{*/
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namespace pcl
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{
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struct ModelCoefficients;
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template <typename PointT> class PlanarPolygon;
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namespace visualization
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{
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/** \brief Create a 3d poly line from a set of points.
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* \param[in] cloud the set of points used to create the 3d polyline
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* \ingroup visualization
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*/
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template <typename PointT> vtkSmartPointer<vtkDataSet> inline
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createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud);
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/** \brief Create a 3d poly line from a set of points on the boundary of a planar region.
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* \param[in] planar_polygon the set of points used to create the 3d polyline
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* \ingroup visualization
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*/
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template <typename PointT> vtkSmartPointer<vtkDataSet> inline
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createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon);
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/** \brief Create a line shape from two points
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* \param[in] pt1 the first point on the line
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* \param[in] pt2 the end point on the line
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2);
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/** \brief Create a sphere shape from a point and a radius
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* \param[in] center the center of the sphere (as an Eigen Vector4f, with only the first 3 coordinates used)
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* \param[in] radius the radius of the sphere
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* \param[in] res (optional) the resolution used for rendering the model
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createSphere (const Eigen::Vector4f ¢er, double radius, int res = 10);
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/** \brief Create a cylinder shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (point_on_axis, axis_direction, radius)
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* \param[in] numsides (optional) the number of sides used for rendering the cylinder
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCylinder)
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* // Eigen::Vector3f pt_on_axis, axis_direction;
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* // float radius;
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*
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* pcl::ModelCoefficients cylinder_coeff;
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* cylinder_coeff.values.resize (7); // We need 7 values
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* cylinder_coeff.values[0] = pt_on_axis.x ();
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* cylinder_coeff.values[1] = pt_on_axis.y ();
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* cylinder_coeff.values[2] = pt_on_axis.z ();
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*
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* cylinder_coeff.values[3] = axis_direction.x ();
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* cylinder_coeff.values[4] = axis_direction.y ();
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* cylinder_coeff.values[5] = axis_direction.z ();
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*
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* cylinder_coeff.values[6] = radius;
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*
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* vtkSmartPointer<vtkDataSet> data = pcl::visualization::createCylinder (cylinder_coeff, numsides);
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* \endcode
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*
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createCylinder (const pcl::ModelCoefficients &coefficients, int numsides = 30);
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/** \brief Create a sphere shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (sphere center, radius)
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* \param[in] res (optional) the resolution used for rendering the model
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelSphere)
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* // Eigen::Vector3f sphere_center;
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* // float radius;
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*
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* pcl::ModelCoefficients sphere_coeff;
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* sphere_coeff.values.resize (4); // We need 4 values
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* sphere_coeff.values[0] = sphere_center.x ();
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* sphere_coeff.values[1] = sphere_center.y ();
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* sphere_coeff.values[2] = sphere_center.z ();
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*
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* sphere_coeff.values[3] = radius;
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*
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* vtkSmartPointer<vtkDataSet> data = pcl::visualization::createSphere (sphere_coeff, resolution);
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* \endcode
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*
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createSphere (const pcl::ModelCoefficients &coefficients, int res = 10);
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/** \brief Create a line shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (point_on_line, line_direction)
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelLine)
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* // Eigen::Vector3f point_on_line, line_direction;
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*
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* pcl::ModelCoefficients line_coeff;
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* line_coeff.values.resize (6); // We need 6 values
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* line_coeff.values[0] = point_on_line.x ();
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* line_coeff.values[1] = point_on_line.y ();
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* line_coeff.values[2] = point_on_line.z ();
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*
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* line_coeff.values[3] = line_direction.x ();
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* line_coeff.values[4] = line_direction.y ();
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* line_coeff.values[5] = line_direction.z ();
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*
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* vtkSmartPointer<vtkDataSet> data = pcl::visualization::createLine (line_coeff);
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* \endcode
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*
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createLine (const pcl::ModelCoefficients &coefficients);
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/** \brief Create a planar shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelPlane)
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* // Eigen::Vector4f plane_parameters;
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*
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* pcl::ModelCoefficients plane_coeff;
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* plane_coeff.values.resize (4); // We need 4 values
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* plane_coeff.values[0] = plane_parameters.x ();
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* plane_coeff.values[1] = plane_parameters.y ();
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* plane_coeff.values[2] = plane_parameters.z ();
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* plane_coeff.values[3] = plane_parameters.w ();
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*
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* vtkSmartPointer<vtkDataSet> data = pcl::visualization::createPlane (plane_coeff);
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* \endcode
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*
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createPlane (const pcl::ModelCoefficients &coefficients);
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/** \brief Create a planar shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (a, b, c, d with ax+by+cz+d=0)
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* \param[in] x,y,z projection of this point on the plane is used to get the center of the plane.
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createPlane (const pcl::ModelCoefficients &coefficients, double x, double y, double z);
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/** \brief Create a 2d circle shape from a set of model coefficients.
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* \param[in] coefficients the model coefficients (x, y, radius)
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* \param[in] z (optional) specify a z value (default: 0)
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCircle2D)
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* // float x, y, radius;
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*
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* pcl::ModelCoefficients circle_coeff;
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* circle_coeff.values.resize (3); // We need 3 values
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* circle_coeff.values[0] = x;
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* circle_coeff.values[1] = y;
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* circle_coeff.values[2] = radius;
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*
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* vtkSmartPointer<vtkDataSet> data = pcl::visualization::create2DCircle (circle_coeff, z);
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* \endcode
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*
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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create2DCircle (const pcl::ModelCoefficients &coefficients, double z = 0.0);
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/** \brief Create a cone shape from a set of model coefficients.
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* \param[in] coefficients the cone coefficients (cone_apex, axis_direction, angle)
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*
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* \code
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* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCone)
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* // Eigen::Vector3f cone_apex, axis_direction;
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* // float angle;
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* // Note: The height of the cone is set using the magnitude of the axis_direction vector.
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*
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* pcl::ModelCoefficients cone_coeff;
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* cone_coeff.values.resize (7); // We need 7 values
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* cone_coeff.values[0] = cone_apex.x ();
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* cone_coeff.values[1] = cone_apex.y ();
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* cone_coeff.values[2] = cone_apex.z ();
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* cone_coeff.values[3] = axis_direction.x ();
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* cone_coeff.values[4] = axis_direction.y ();
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* cone_coeff.values[5] = axis_direction.z ();
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* cone_coeff.values[6] = angle (); // degrees
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*
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* vtkSmartPointer<vtkDataSet> data = pcl::visualization::createCone (cone_coeff);
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* \endcode
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*
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createCone (const pcl::ModelCoefficients &coefficients);
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/** \brief Create a cube shape from a set of model coefficients.
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* \param[in] coefficients the cube coefficients (Tx, Ty, Tz, Qx, Qy, Qz, Qw, width, height, depth)
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createCube (const pcl::ModelCoefficients &coefficients);
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/** \brief Create a cube shape from a set of model coefficients.
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*
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* \param[in] translation a translation to apply to the cube from 0,0,0
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* \param[in] rotation a quaternion-based rotation to apply to the cube
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* \param[in] width the cube's width
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* \param[in] height the cube's height
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* \param[in] depth the cube's depth
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation,
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double width, double height, double depth);
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/** \brief Create a cube from a set of bounding points
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* \param[in] x_min is the minimum x value of the box
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* \param[in] x_max is the maximum x value of the box
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* \param[in] y_min is the minimum y value of the box
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* \param[in] y_max is the maximum y value of the box
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* \param[in] z_min is the minimum z value of the box
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* \param[in] z_max is the maximum z value of the box
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createCube (double x_min, double x_max,
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double y_min, double y_max,
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double z_min, double z_max);
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/** \brief Create an ellipsoid shape from the given parameters.
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*
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* \param[in] transform a transformation to apply to the ellipsoid from 0,0,0
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* \param[in] radius_x the ellipsoid's radius along its local x-axis
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* \param[in] radius_y the ellipsoid's radius along its local y-axis
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* \param[in] radius_z the ellipsoid's radius along its local z-axis
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* \ingroup visualization
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*/
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PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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createEllipsoid (const Eigen::Isometry3d &transform,
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double radius_x, double radius_y, double radius_z);
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/** \brief Allocate a new unstructured grid smartpointer. For internal use only.
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* \param[out] polydata the resultant unstructured grid.
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*/
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PCL_EXPORTS void
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allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
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}
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}
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/*@}*/
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#include <pcl/visualization/common/impl/shapes.hpp>
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