VTKでPointCloud表示（２）

//VTK_MODULE_INITに必要
#include <vtkAutoInit.h>


#include <vtkSmartPointer.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>


#include <eigen/Core>

#include <vtkPolyDataMapper.h>
#include <vtkPolyData.h>
#include <vtkPoints.h>
#include <vtkPointData.h>
#include <vtkUnsignedCharArray.h> // 色を設定するために必要
#include <vtkVertexGlyphFilter.h> // 点を描画するために必要
#include <vtkProperty.h>          // 色を設定するために必要

#pragma comment(lib,"opengl32.lib")
#pragma comment(lib,"psapi.lib")
#pragma comment(lib,"dbghelp.lib")
#pragma comment(lib,"ws2_32.lib")

//必須
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);

void CreatePointArray(
  std::vector<Eigen::Vector3d>& vertices,
  vtkSmartPointer<vtkPolyData> vtk_mesh,
  vtkSmartPointer<vtkPoints> vtk_points) {

  // 頂点配列を作成
  for (const auto& v : vertices) {
    vtk_points->InsertNextPoint(v.x(), v.y(), v.z());
  }
  // 頂点配列を設定
  vtk_mesh->SetPoints(vtk_points);

}


void CreateColorsArray(
  std::vector<Eigen::Vector3d>& vertex_colors,
  vtkSmartPointer<vtkPolyData> vtk_mesh,
  vtkSmartPointer<vtkUnsignedCharArray> vtk_colors) {


  vtk_colors->SetNumberOfComponents(3);
  for (const auto& c : vertex_colors) {
    vtk_colors->InsertNextTuple3(c.x() * 255, c.y() * 255, c.z() * 255);
  }
  vtk_mesh->GetPointData()->SetScalars(vtk_colors);

}


vtkSmartPointer<vtkActor>  CreatePointCloudActor(
  std::vector<Eigen::Vector3d> vertices,
  std::vector<Eigen::Vector3d> colors,
  float pointsize
) {
  auto vtk_cloud = vtkSmartPointer<vtkPolyData>::New();
  auto vtk_points = vtkSmartPointer<vtkPoints>::New();
  auto vtk_colors = vtkSmartPointer<vtkUnsignedCharArray>::New();


  ///////////////////////////////////////////////////////
  // 頂点の配列を生成
  CreatePointArray(vertices, vtk_cloud, vtk_points);
  ///////////////////////////////////////////////////////
  // 色の配列を生成
  CreateColorsArray(colors, vtk_cloud, vtk_colors);
  ///////////////////////////////////////////////////////

  // 使用して点を描画するためのGlyph filter
  vtkSmartPointer<vtkVertexGlyphFilter> vertexFilter = vtkSmartPointer<vtkVertexGlyphFilter>::New();
  vertexFilter->SetInputData(vtk_cloud);
  vertexFilter->Update();
  ///////////////////////////////////////////////////////

  auto vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
  vtk_mapper->SetInputData(vtk_cloud);
  vtk_mapper->SetInputConnection(vertexFilter->GetOutputPort());

  auto vtk_actor = vtkSmartPointer<vtkActor>::New();
  vtk_actor->SetMapper(vtk_mapper);
  vtk_actor->GetProperty()->SetPointSize(pointsize); // 点のサイズを設定

  return vtk_actor;
}
int main(int /*argc*/, char** /*argv*/)
{
  ////////////////////////////////////////
  // 点群の定義

  // ランダムの1000頂点を作成
  std::vector<Eigen::Vector3d> vertices;
  for (int i = 0; i < 1000; i++) {
    vertices.push_back(Eigen::Vector3d::Random());
  }
  // ランダムの色を設定
  std::vector<Eigen::Vector3d> colors;
  for (int i = 0; i < 1000; i++) {
    Eigen::Vector3d rnd = Eigen::Vector3d::Random(); // -1～1の乱数
    Eigen::Vector3d v01 = 0.5 * (rnd + Eigen::Vector3d::Ones()); // 0～1に変換
    colors.push_back(v01);
  }

  ////////////////////////////////////////
  // 点群のアクタを作戦
  auto actor = CreatePointCloudActor(vertices, colors,5);

  //////////////////////////////////////
  auto renderer = vtkSmartPointer<vtkRenderer>::New();
  renderer->AddActor(actor);
  renderer->ResetCamera();

  //////////////////////////////////////
  auto interactor = vtkSmartPointer<vtkRenderWindowInteractor>::New();

  //////////////////////////////////////
  auto renderWindow = vtkSmartPointer<vtkRenderWindow>::New();
  renderWindow->AddRenderer(renderer);
  renderWindow->SetInteractor(interactor);
  renderWindow->Render();

  interactor->Start(); //イベントループへ入る

  return 0;
}