pcl+vtk（十二）使用vtkPolyData创建点、线、面（不规则面）、三角带

一、前言

vtkPlaneSource创建平面，只可以创建平行四边形的平面，根据一个起点和两个终点创建法向量创建平面。但是当有创建多个点围成不规则平面的需求时，该怎么创建显示呢？

在网上查了资料，可以使用vtkPolyData拓扑结构。

二、拓扑结构

下面这篇文章很详细的说明了相关的知识理论，可以参考学习。

VTK 初步 (2) ----- 基本数据结构_vtkcellarray-CSDN博客

三、代码示例

1.点

//点
void Widget::on_point_clicked()
{
    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
    vtkSmartPointer<vtkCellArray> cellArray = vtkSmartPointer<vtkCellArray>::New();
    vtkIdType pid[12] = {0,1,2,3,4,5,6,7,8,9,10,11};
    points->InsertNextPoint(1, 1, 1);
    points->InsertNextPoint(1, 2, 0);
    points->InsertNextPoint(1, 1, -1);
    points->InsertNextPoint(1, -1, -1);
    points->InsertNextPoint(1, -2, 0);
    points->InsertNextPoint(1, -1, 1);
    points->InsertNextPoint(-1, 1, 1);
    points->InsertNextPoint(-1, 2, 0);
    points->InsertNextPoint(-1, 1, -1);
    points->InsertNextPoint(-1, -1, -1);
    points->InsertNextPoint(-1, -2, 0);
    points->InsertNextPoint(-1, -1, 1);
    cellArray->InsertNextCell(12,pid);

    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
    polyData->SetPoints(points);
    polyData->SetVerts(cellArray);//点

    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetInputData(polyData);
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->GetProperty()->SetColor((float)255/255, (float)255/255, (float)0/255);
    actor->GetProperty()->SetPointSize(5);
    actor->SetMapper(mapper);

    renderer->AddActor(actor);

    renderer->ResetCamera();
    ui->vtk_widget->GetRenderWindow()->Render();
}

2.线

//线
void Widget::on_line_clicked()
{
    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
    vtkSmartPointer<vtkCellArray> cellArray = vtkSmartPointer<vtkCellArray>::New();
    vtkIdType pid[13] = {0,1,2,3,4,5,6,7,8,9,10,11,12};
    points->InsertNextPoint(1, 1, 1);
    points->InsertNextPoint(1, 2, 0);
    points->InsertNextPoint(1, 1, -1);
    points->InsertNextPoint(1, -1, -1);
    points->InsertNextPoint(1, -2, 0);
    points->InsertNextPoint(1, -1, 1);
    points->InsertNextPoint(-1, -1, 1);
    points->InsertNextPoint(-1, -2, 0);
    points->InsertNextPoint(-1, -1, -1);
    points->InsertNextPoint(-1, 1, -1);
    points->InsertNextPoint(-1, 2, 0);
    points->InsertNextPoint(-1, 1, 1);
    points->InsertNextPoint(1, 1, 1);
    cellArray->InsertNextCell(13,pid);

    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
    polyData->SetPoints(points);
    polyData->SetLines(cellArray);//线

    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetInputData(polyData);
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->GetProperty()->SetColor((float)255/255, (float)0/255, (float)255/255);
    actor->GetProperty()->SetLineWidth(3);
    actor->SetMapper(mapper);

    renderer->AddActor(actor);

    renderer->ResetCamera();
    ui->vtk_widget->GetRenderWindow()->Render();
}

3.面

//面
void Widget::on_poly_clicked()
{
    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
    vtkSmartPointer<vtkCellArray> cellArray = vtkSmartPointer<vtkCellArray>::New();
    vtkIdType pid[6] = {0,1,2,3,4,5};
    points->InsertNextPoint(1, 1, 1);
    points->InsertNextPoint(1, 2, 0);
    points->InsertNextPoint(1, 1, -1);
    points->InsertNextPoint(1, -1, -1);
    points->InsertNextPoint(1, -2, 0);
    points->InsertNextPoint(1, -1, 1);
    cellArray->InsertNextCell(6,pid);

    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
    polyData->SetPoints(points);
    polyData->SetPolys(cellArray);//面

    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetInputData(polyData);
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->GetProperty()->SetColor((float)0/255, (float)255/255, (float)255/255);
    actor->SetMapper(mapper);

    renderer->AddActor(actor);

    renderer->ResetCamera();
    ui->vtk_widget->GetRenderWindow()->Render();
}

4.多个面

//多个面
void Widget::on_cube_clicked()
{
    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
    vtkSmartPointer<vtkCellArray> cellArray = vtkSmartPointer<vtkCellArray>::New();
    vtkIdType pid[18] = {0,1,2,
                         0,2,3,
                         0,3,4,
                         0,4,5,
                         0,5,6,
                         0,6,1
                        };
    points->InsertNextPoint(0, 0, 0);
    points->InsertNextPoint(-1, -1, 1);
    points->InsertNextPoint(-1, -2, 0);
    points->InsertNextPoint(-1, -1, -1);
    points->InsertNextPoint(-1, 1, -1);
    points->InsertNextPoint(-1, 2, 0);
    points->InsertNextPoint(-1, 1, 1);
    cellArray->InsertNextCell(18,pid);
    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
    polyData->SetPoints(points);
    polyData->SetPolys(cellArray);//面

    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetInputData(polyData);
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->GetProperty()->SetColor((float)128/255, (float)128/255, (float)128/255);
    actor->SetMapper(mapper);

    renderer->AddActor(actor);

    renderer->ResetCamera();
    ui->vtk_widget->GetRenderWindow()->Render();
}

5.三角带

//三角带
void Widget::on_strip_clicked()
{
    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
    vtkSmartPointer<vtkCellArray> cellArray = vtkSmartPointer<vtkCellArray>::New();
    vtkIdType pid[12] = {0,1,2,3,4,5,6,7,8,9,10,11};
    points->InsertNextPoint(1, 1, 1);
    points->InsertNextPoint(1, 2, 0);
    points->InsertNextPoint(1, 1, -1);
    points->InsertNextPoint(1, -1, -1);
    points->InsertNextPoint(1, -2, 0);
    points->InsertNextPoint(1, -1, 1);
    points->InsertNextPoint(-1, 1, 1);
    points->InsertNextPoint(-1, 2, 0);
    points->InsertNextPoint(-1, 1, -1);
    points->InsertNextPoint(-1, -1, -1);
    points->InsertNextPoint(-1, -2, 0);
    points->InsertNextPoint(-1, -1, 1);
    cellArray->InsertNextCell(12,pid);

    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
    polyData->SetPoints(points);
    polyData->SetStrips(cellArray);//三角带

    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetInputData(polyData);
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->GetProperty()->SetColor((float)255/255, (float)128/255, (float)128/255);
    actor->GetProperty()->SetPointSize(3);
    actor->SetMapper(mapper);

    renderer->AddActor(actor);

    renderer->ResetCamera();
    ui->vtk_widget->GetRenderWindow()->Render();
}

总体