Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: shapes.h 3000 2011-10-31 22:57:26Z rusu $ 00035 * 00036 */ 00037 #ifndef PCL_PCL_VISUALIZER_SHAPES_H_ 00038 #define PCL_PCL_VISUALIZER_SHAPES_H_ 00039 00040 #include <pcl/point_cloud.h> 00041 #include <pcl/ModelCoefficients.h> 00042 #include <vtkSmartPointer.h> 00043 #include <vtkDataSet.h> 00044 #include <vtkPolyData.h> 00045 #include <vtkPolygon.h> 00046 #include <vtkUnstructuredGrid.h> 00047 #include <vtkConeSource.h> 00048 #include <vtkDiskSource.h> 00049 #include <vtkPlaneSource.h> 00050 #include <vtkSphereSource.h> 00051 #include <vtkTransform.h> 00052 #include <vtkTransformPolyDataFilter.h> 00053 #include <vtkLineSource.h> 00054 #include <vtkTubeFilter.h> 00055 #include <vtkCubeSource.h> 00056 00064 namespace pcl 00065 { 00066 namespace visualization 00067 { 00072 template <typename PointT> vtkSmartPointer<vtkDataSet> inline 00073 createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud); 00074 00080 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00081 createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2); 00082 00089 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00090 createSphere (const Eigen::Vector4f ¢er, double radius, int res = 10); 00091 00118 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00119 createCylinder (const pcl::ModelCoefficients &coefficients, int numsides = 30); 00120 00143 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00144 createSphere (const pcl::ModelCoefficients &coefficients, int res = 10); 00145 00168 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00169 createLine (const pcl::ModelCoefficients &coefficients); 00170 00190 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00191 createPlane (const pcl::ModelCoefficients &coefficients); 00192 00212 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00213 create2DCircle (const pcl::ModelCoefficients &coefficients, double z = 0.0); 00214 00219 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00220 createCone (const pcl::ModelCoefficients &coefficients); 00221 00226 PCL_EXPORTS vtkSmartPointer<vtkDataSet> 00227 createCube (const pcl::ModelCoefficients &coefficients); 00228 00230 PCL_EXPORTS void 00231 allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata); 00232 } 00233 } 00236 #include <pcl/visualization/common/impl/shapes.hpp> 00237 00238 #endif