void
getVoxelActors (pcl::PointCloud<pcl::PointXYZ>& voxelCenters,
double voxelSideLen, Eigen::Vector3f color,
vtkSmartPointer<vtkActorCollection> coll)
{
vtkSmartPointer < vtkAppendPolyData > treeWireframe = vtkSmartPointer<vtkAppendPolyData>::New ();
double s = voxelSideLen/2.0;
for (const auto &point : voxelCenters.points)
{
double x = point.x;
double y = point.y;
double z = point.z;
treeWireframe->AddInputData (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
}
vtkSmartPointer < vtkLODActor > treeActor = vtkSmartPointer<vtkLODActor>::New ();
vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInputData (treeWireframe->GetOutput ());
treeActor->SetMapper (mapper);
treeActor->GetProperty ()->SetRepresentationToWireframe ();
treeActor->GetProperty ()->SetColor (color[0], color[1], color[2]);
treeActor->GetProperty ()->SetLineWidth (4);
coll->AddItem (treeActor);
}
void
displayBoundingBox (Eigen::Vector3f& min_b, Eigen::Vector3f& max_b,
vtkSmartPointer<vtkActorCollection> coll)
{
vtkSmartPointer < vtkAppendPolyData > treeWireframe = vtkSmartPointer<vtkAppendPolyData>::New ();
treeWireframe->AddInputData (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
vtkSmartPointer < vtkActor > treeActor = vtkSmartPointer<vtkActor>::New ();
vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInputData (treeWireframe->GetOutput ());
treeActor->SetMapper (mapper);
treeActor->GetProperty ()->SetRepresentationToWireframe ();
treeActor->GetProperty ()->SetColor (0.0, 0.0, 1.0);
treeActor->GetProperty ()->SetLineWidth (2);
coll->AddItem (treeActor);
}