120 lines
4.3 KiB
C++
120 lines
4.3 KiB
C++
/*
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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) 2010, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, 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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*/
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#pragma once
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#include <vtkSmartPointer.h>
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#include <vtkPoints.h>
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#include <vtkPolygon.h>
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#include <vtkUnstructuredGrid.h>
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namespace pcl
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{
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namespace visualization
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{
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template <typename PointT> vtkSmartPointer<vtkDataSet>
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createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
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{
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vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
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if (cloud->points.empty ())
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return (poly_grid);
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vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
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vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New ();
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poly_points->SetNumberOfPoints (cloud->size ());
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polygon->GetPointIds ()->SetNumberOfIds (cloud->size ());
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for (std::size_t i = 0; i < cloud->size (); ++i)
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{
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poly_points->SetPoint (i, (*cloud)[i].x, (*cloud)[i].y, (*cloud)[i].z);
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polygon->GetPointIds ()->SetId (i, i);
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}
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allocVtkUnstructuredGrid (poly_grid);
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poly_grid->Allocate (1, 1);
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poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
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poly_grid->SetPoints (poly_points);
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return (poly_grid);
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}
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template <typename PointT> vtkSmartPointer<vtkDataSet>
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createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon)
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{
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vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
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if (planar_polygon.getContour ().empty ())
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return (poly_grid);
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vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
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vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New ();
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poly_points->SetNumberOfPoints (planar_polygon.getContour ().size () + 1);
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polygon->GetPointIds ()->SetNumberOfIds (planar_polygon.getContour ().size () + 1);
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for (std::size_t i = 0; i < planar_polygon.getContour ().size (); ++i)
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{
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poly_points->SetPoint (i, planar_polygon.getContour ()[i].x,
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planar_polygon.getContour ()[i].y,
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planar_polygon.getContour ()[i].z);
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polygon->GetPointIds ()->SetId (i, i);
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}
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std::size_t closingContourId = planar_polygon.getContour ().size ();
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auto firstContour = planar_polygon.getContour ()[0];
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poly_points->SetPoint (closingContourId, firstContour.x,
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firstContour.y,
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firstContour.z);
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polygon->GetPointIds ()->SetId (closingContourId, closingContourId);
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allocVtkUnstructuredGrid (poly_grid);
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poly_grid->Allocate (1, 1);
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poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
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poly_grid->SetPoints (poly_points);
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return (poly_grid);
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}
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} // namespace visualization
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} // namespace pcl
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