gistfile1.cpp

cv::viz::Mesh load(InputArray pointCloud){
 
  vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
  cloud_source->SetCloud(pointCloud);
  vtkSmartPointer<vtkPolyData> polydata = cloud_source->GetOutput();

  Mesh mesh;
  vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
  sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
  sink->SetInputConnection(reader->GetOutputPort());
  sink->Write();

  // Now handle the polygons
  vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
  mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
  int* poly_ptr = mesh.polygons.ptr<int>();

  polygons->InitTraversal();
  vtkIdType nr_cell_points, *cell_points;
  while (polygons->GetNextCell(nr_cell_points, cell_points))
  {
      *poly_ptr++ = nr_cell_points;
      for (vtkIdType i = 0; i < nr_cell_points; ++i)
          *poly_ptr++ = (int)cell_points[i];
  }

  return mesh;
}



Mesh mesh = load(pointCloud); //pointCloud è restituita da reproject3d

//Costruzione finestra per visualizzazione
viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
myWindow.setBackgroundColor(viz::Color::gray());
myWindow.spin();
    
//WMesh da mesh
viz::WMesh mesh_widget(mesh); 
mesh_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("point cloud", mesh_widget);