Point Cloud Library (PCL)  1.3.1
shapes.h
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00001 /*
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00034  * $Id: shapes.h 3000 2011-10-31 22:57:26Z rusu $
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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 &center, 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
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