Method convertPointCloudToVTKPolyData

visualization/src/pcl_visualizer.cpp:1258–1315

////////////////////////////////////////////////////////////////////////////////////////

}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData (
    const GeometryHandlerConstPtr &geometry_handler,
    vtkSmartPointer<vtkPolyData> &polydata,
    vtkSmartPointer<vtkIdTypeArray> &initcells)
{
  vtkSmartPointer<vtkCellArray> vertices;

  if (!polydata)
  {
    allocVtkPolyData (polydata);
    vertices = vtkSmartPointer<vtkCellArray>::New ();
    polydata->SetVerts (vertices);
  }

  // Use the handler to obtain the geometry
  vtkSmartPointer<vtkPoints> points;
  geometry_handler->getGeometry (points);
  polydata->SetPoints (points);

  vtkIdType nr_points = points->GetNumberOfPoints ();

  // Create the supporting structures
  vertices = polydata->GetVerts ();
  if (!vertices)
    vertices = vtkSmartPointer<vtkCellArray>::New ();

#ifdef VTK_CELL_ARRAY_V2
  // TODO: Remove when VTK 6,7,8 is unsupported
  pcl::utils::ignore(initcells);

  auto numOfCells = vertices->GetNumberOfCells();

  // If we have less cells than points, add new cells.
  if (numOfCells < nr_points)
  {
    for (int i = numOfCells; i < nr_points; i++)
    {
      vertices->InsertNextCell(1);
      vertices->InsertCellPoint(i);
    }
  }
  // if we too many cells than points, set size (doesn't free excessive memory)
  else if (numOfCells > nr_points)
  {
    vertices->ResizeExact(nr_points, nr_points);
  }

  polydata->SetPoints(points);
  polydata->SetVerts(vertices);

#else
  vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
  updateCells (cells, initcells, nr_points);
  // Set the cells and the vertices
  vertices->SetCells (nr_points, cells);
#endif
}