shapes.h

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 * $Id: shapes.h 5501 2012-04-04 07:08:51Z rusu $
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#ifndef PCL_PCL_VISUALIZER_SHAPES_H_
#define PCL_PCL_VISUALIZER_SHAPES_H_

#include <Eigen/Geometry>
#include <pcl/ModelCoefficients.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/vtk.h>
#include <pcl/geometry/planar_polygon.h>

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

    template <typename PointT> vtkSmartPointer<vtkDataSet> inline 
    createPolygon (const pcl::PlanarPolygon<PointT> &planar_polygon);

    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 vtkSmartPointer<vtkDataSet> 
    createCube (double x_min, double x_max,
                double y_min, double y_max,
                double z_min, double z_max);
    
    PCL_EXPORTS void
    allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
  }
}
#include <pcl/visualization/common/impl/shapes.hpp>

#endif