shapes.hpp

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