39 #ifndef PCL_PCL_VISUALIZER_SHAPES_H_
40 #define PCL_PCL_VISUALIZER_SHAPES_H_
42 #include <pcl/ModelCoefficients.h>
43 #include <pcl/point_cloud.h>
44 #include <pcl/visualization/eigen.h>
45 #include <pcl/geometry/planar_polygon.h>
49 class vtkUnstructuredGrid;
60 namespace visualization
82 createLine (
const Eigen::Vector4f &pt1,
const Eigen::Vector4f &pt2);
91 createSphere (
const Eigen::Vector4f ¢er,
double radius,
int res = 10);
268 createCube (
const Eigen::Vector3f &translation,
const Eigen::Quaternionf &rotation,
269 double width,
double height,
double depth);
281 double y_min,
double y_max,
282 double z_min,
double z_max);
293 #include <pcl/visualization/common/impl/shapes.hpp>
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PCL_EXPORTS vtkSmartPointer< vtkDataSet > create2DCircle(const pcl::ModelCoefficients &coefficients, double z=0.0)
Create a 2d circle shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createCube(const pcl::ModelCoefficients &coefficients)
Creaet a cube shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createPlane(const pcl::ModelCoefficients &coefficients)
Create a planar shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createCone(const pcl::ModelCoefficients &coefficients)
Create a cone shape from a set of model coefficients.
PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
vtkSmartPointer< vtkDataSet > createPolygon(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Create a 3d poly line from a set of points.
PCL_EXPORTS void allocVtkUnstructuredGrid(vtkSmartPointer< vtkUnstructuredGrid > &polydata)
Allocate a new unstructured grid smartpointer.
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createSphere(const Eigen::Vector4f ¢er, double radius, int res=10)
Create a sphere shape from a point and a radius.
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createCylinder(const pcl::ModelCoefficients &coefficients, int numsides=30)
Create a cylinder shape from a set of model coefficients.
PCL_EXPORTS vtkSmartPointer< vtkDataSet > createLine(const Eigen::Vector4f &pt1, const Eigen::Vector4f &pt2)
Create a line shape from two points.