110 lines
4.0 KiB
C++
110 lines
4.0 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/visualization/point_cloud_geometry_handlers.h> // for PointCloudGeometryHandler
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#include <pcl/visualization/point_cloud_color_handlers.h> // for PointCloudColorHandler
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#include <pcl/PCLPointCloud2.h>
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#include <vtkLODActor.h>
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#include <vtkSmartPointer.h>
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#include <vtkIdTypeArray.h>
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#include <unordered_map>
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#include <vector>
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template <typename T> class vtkSmartPointer;
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class vtkLODActor;
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class vtkProp;
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namespace pcl
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{
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namespace visualization
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{
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class PCL_EXPORTS CloudActor
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{
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using GeometryHandler = PointCloudGeometryHandler<pcl::PCLPointCloud2>;
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using GeometryHandlerPtr = GeometryHandler::Ptr;
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using GeometryHandlerConstPtr = GeometryHandler::ConstPtr;
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using ColorHandler = PointCloudColorHandler<pcl::PCLPointCloud2>;
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using ColorHandlerPtr = ColorHandler::Ptr;
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using ColorHandlerConstPtr = ColorHandler::ConstPtr;
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public:
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CloudActor () : color_handler_index_ (0), geometry_handler_index_ (0) {}
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virtual ~CloudActor ()
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{
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geometry_handlers.clear ();
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color_handlers.clear ();
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}
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/** \brief The actor holding the data to render. */
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vtkSmartPointer<vtkLODActor> actor;
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/** \brief A vector of geometry handlers that can be used for rendering the data. */
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std::vector<GeometryHandlerConstPtr> geometry_handlers;
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/** \brief A vector of color handlers that can be used for rendering the data. */
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std::vector<ColorHandlerConstPtr> color_handlers;
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/** \brief The active color handler. */
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int color_handler_index_;
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/** \brief The active geometry handler. */
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int geometry_handler_index_;
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/** \brief The viewpoint transformation matrix. */
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vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
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/** \brief Internal cell array. Used for optimizing updatePointCloud. */
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vtkSmartPointer<vtkIdTypeArray> cells;
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};
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using CloudActorMap = std::unordered_map<std::string, CloudActor>;
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using CloudActorMapPtr = shared_ptr<CloudActorMap>;
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using ShapeActorMap = std::unordered_map<std::string, vtkSmartPointer<vtkProp> >;
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using ShapeActorMapPtr = shared_ptr<ShapeActorMap>;
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using CoordinateActorMap = std::unordered_map<std::string, vtkSmartPointer<vtkProp> >;
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using CoordinateActorMapPtr = shared_ptr<CoordinateActorMap>;
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}
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}
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