shapes.h

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/*
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 * $Id: shapes.h 4702 2012-02-23 09:39:33Z gedikli $
 *
 */
#ifndef PCL_PCL_VISUALIZER_SHAPES_H_
#define PCL_PCL_VISUALIZER_SHAPES_H_

#include <pcl/point_cloud.h>
#include <pcl/ModelCoefficients.h>
#include <vtkSmartPointer.h>
#include <vtkDataSet.h>
#include <vtkPolyData.h>
#include <vtkPolygon.h>
#include <vtkUnstructuredGrid.h>
#include <vtkConeSource.h>
#include <vtkDiskSource.h>
#include <vtkPlaneSource.h>
#include <vtkSphereSource.h>
#include <vtkTransform.h>
#include <vtkTransformPolyDataFilter.h>
#include <vtkLineSource.h>
#include <vtkTubeFilter.h>
#include <vtkCubeSource.h>
#include <Eigen/Geometry>

namespace pcl
{
  namespace visualization
  {
    template <typename PointT> vtkSmartPointer<vtkDataSet> inline 
    createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createLine (const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet>
    createSphere (const Eigen::Vector4f &center, double radius, int res = 10);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCylinder (const pcl::ModelCoefficients &coefficients, int numsides = 30);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createSphere (const pcl::ModelCoefficients &coefficients, int res = 10);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createLine (const pcl::ModelCoefficients &coefficients);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createPlane (const pcl::ModelCoefficients &coefficients);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    create2DCircle (const pcl::ModelCoefficients &coefficients, double z = 0.0);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCone (const pcl::ModelCoefficients &coefficients);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCube (const pcl::ModelCoefficients &coefficients);

    PCL_EXPORTS vtkSmartPointer<vtkDataSet> 
    createCube (const Eigen::Vector3f &translation, const Eigen::Quaternionf &rotation,
                double width, double height, double depth);
    
    PCL_EXPORTS void
    allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
  }
}
#include <pcl/visualization/common/impl/shapes.hpp>

#endif