Point Cloud Library (PCL)  1.3.1
shapes.hpp
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00001 /*
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00034  * $Id: shapes.hpp 2186 2011-08-23 19:30:28Z bouffa $
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00037 
00039 template <typename PointT> vtkSmartPointer<vtkDataSet> 
00040 pcl::visualization::createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
00041 {
00042   vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
00043   vtkSmartPointer<vtkPolygon> polygon    = vtkSmartPointer<vtkPolygon>::New ();
00044 
00045   poly_points->SetNumberOfPoints (cloud->points.size ());
00046   polygon->GetPointIds ()->SetNumberOfIds (cloud->points.size ());
00047 
00048   size_t i;
00049   for (i = 0; i < cloud->points.size (); ++i)
00050   {
00051     poly_points->InsertPoint (i, cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
00052     polygon->GetPointIds ()->SetId (i, i);
00053   }
00054 
00055   vtkSmartPointer<vtkUnstructuredGrid> poly_grid;
00056   allocVtkUnstructuredGrid (poly_grid);
00057   poly_grid->Allocate (1, 1);
00058   poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
00059   poly_grid->SetPoints (poly_points);
00060   poly_grid->Update ();
00061 
00062   return (poly_grid);
00063 }
00064 
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