1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of Willow Garage, Inc. nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 */
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>
createPolygon(const typename pcl::PointCloud<PointT>::ConstPtr & cloud)54 createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
55 {
56 vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
57 if (cloud->points.empty ())
58 return (poly_grid);
59
60 vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
61 vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New ();
62
63 poly_points->SetNumberOfPoints (cloud->size ());
64 polygon->GetPointIds ()->SetNumberOfIds (cloud->size ());
65
66 for (std::size_t i = 0; i < cloud->size (); ++i)
67 {
68 poly_points->SetPoint (i, (*cloud)[i].x, (*cloud)[i].y, (*cloud)[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>
createPolygon(const pcl::PlanarPolygon<PointT> & planar_polygon)82 createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon)
83 {
84 vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
85 if (planar_polygon.getContour ().empty ())
86 return (poly_grid);
87
88 vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
89 vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New ();
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
120