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Fixes for Cone Visualisation #881

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merged 1 commit into from
Sep 2, 2014
Merged

Fixes for Cone Visualisation #881

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22 changes: 21 additions & 1 deletion visualization/include/pcl/visualization/common/shapes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,27 @@ namespace pcl
create2DCircle (const pcl::ModelCoefficients &coefficients, double z = 0.0);

/** \brief Create a cone shape from a set of model coefficients.
* \param[in] coefficients the cone coefficients (point_on_axis, axis_direction, radius)
* \param[in] coefficients the cone coefficients (cone_apex, axis_direction, angle)
*
* \code
* // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCone)
* // Eigen::Vector3f cone_apex, axis_direction;
* // float angle;
* // Note: The height of the cone is set using the magnitude of the axis_direction vector.
*
* pcl::ModelCoefficients cone_coeff;
* plane_coeff.values.resize (7); // We need 7 values
* plane_coeff.values[0] = cone_apex.x ();
* plane_coeff.values[1] = cone_apex.y ();
* plane_coeff.values[2] = cone_apex.z ();
* plane_coeff.values[3] = axis_direction.x ();
* plane_coeff.values[4] = axis_direction.y ();
* plane_coeff.values[5] = axis_direction.z ();
* plane_coeff.values[6] = angle (); // degrees
*
* vtkSmartPointer<vtkDataSet> data = pcl::visualization::createCone (cone_coeff);
* \endcode
*
* \ingroup visualization
*/
PCL_EXPORTS vtkSmartPointer<vtkDataSet>
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10 changes: 6 additions & 4 deletions visualization/src/common/shapes.cpp
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Expand Up @@ -249,10 +249,12 @@ vtkSmartPointer<vtkDataSet>
pcl::visualization::createCone (const pcl::ModelCoefficients &coefficients)
{
vtkSmartPointer<vtkConeSource> cone = vtkSmartPointer<vtkConeSource>::New ();
cone->SetHeight (1.0);
cone->SetCenter (coefficients.values[0] + coefficients.values[3] * 0.5,
coefficients.values[1] + coefficients.values[1] * 0.5,
coefficients.values[2] + coefficients.values[2] * 0.5);
cone->SetHeight (std::sqrt (coefficients.values[3] * coefficients.values[3] +
coefficients.values[4] * coefficients.values[4] +
coefficients.values[5] * coefficients.values[5]));
cone->SetCenter (coefficients.values[0] + coefficients.values[3] * 0.5,
coefficients.values[1] + coefficients.values[4] * 0.5,
coefficients.values[2] + coefficients.values[5] * 0.5);
cone->SetDirection (-coefficients.values[3], -coefficients.values[4], -coefficients.values[5]);
cone->SetResolution (100);
cone->SetAngle (coefficients.values[6]);
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