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Add new overload of PointCloudColorHandler::getColor() #3187

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merged 2 commits into from
Jun 23, 2019
Merged

Add new overload of PointCloudColorHandler::getColor() #3187

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a7edaea
Change getColor() API in point cloud color handlers
taketwo Jun 20, 2019
c68c919
Use getColor() instead of deprecated getColor(scalars)
taketwo Jun 20, 2019
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6 changes: 3 additions & 3 deletions apps/modeler/src/cloud_mesh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,19 +141,19 @@ pcl::modeler::CloudMesh::getColorScalarsFromField(vtkSmartPointer<vtkDataArray>
if (field == "rgb" || field == "rgba")
{
pcl::visualization::PointCloudColorHandlerRGBField<PointT> color_handler(cloud_);
color_handler.getColor(scalars);
scalars = color_handler.getColor();
return;
}

if (field == "random")
{
pcl::visualization::PointCloudColorHandlerRandom<PointT> color_handler(cloud_);
color_handler.getColor(scalars);
scalars = color_handler.getColor();
return;
}

pcl::visualization::PointCloudColorHandlerGenericField<PointT> color_handler(cloud_, field);
color_handler.getColor(scalars);
scalars = color_handler.getColor();

return;
}
Expand Down
12 changes: 4 additions & 8 deletions visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1307,8 +1307,7 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen (
// Get the colors from the handler
bool has_colors = false;
double minmax[2];
vtkSmartPointer<vtkDataArray> scalars;
if (color_handler.getColor (scalars))
if (auto scalars = color_handler.getColor ())
{
polydata->GetPointData ()->SetScalars (scalars);
scalars->GetRange (minmax);
Expand Down Expand Up @@ -1370,8 +1369,7 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen (
// Get the colors from the handler
bool has_colors = false;
double minmax[2];
vtkSmartPointer<vtkDataArray> scalars;
if (color_handler->getColor (scalars))
if (auto scalars = color_handler->getColor ())
{
polydata->GetPointData ()->SetScalars (scalars);
scalars->GetRange (minmax);
Expand Down Expand Up @@ -1434,8 +1432,7 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen (
// Get the colors from the handler
bool has_colors = false;
double minmax[2];
vtkSmartPointer<vtkDataArray> scalars;
if (color_handler.getColor (scalars))
if (auto scalars = color_handler.getColor ())
{
polydata->GetPointData ()->SetScalars (scalars);
scalars->GetRange (minmax);
Expand Down Expand Up @@ -1590,8 +1587,7 @@ pcl::visualization::PCLVisualizer::updatePointCloud (const typename pcl::PointCl
// Get the colors from the handler
bool has_colors = false;
double minmax[2];
vtkSmartPointer<vtkDataArray> scalars;
if (color_handler.getColor (scalars))
if (auto scalars = color_handler.getColor ())
{
// Update the data
polydata->GetPointData ()->SetScalars (scalars);
Expand Down
111 changes: 52 additions & 59 deletions visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,18 +45,17 @@
#include <pcl/common/colors.h>

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerCustom<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
template <typename PointT> vtkSmartPointer<vtkDataArray>
pcl::visualization::PointCloudColorHandlerCustom<PointT>::getColor () const
{
if (!capable_ || !cloud_)
return (false);
return nullptr;

if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);

vtkIdType nr_points = cloud_->points.size ();
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
scalars->SetNumberOfTuples (nr_points);

// Get a random color
unsigned char* colors = new unsigned char[nr_points * 3];
Expand All @@ -68,23 +67,22 @@ pcl::visualization::PointCloudColorHandlerCustom<PointT>::getColor (vtkSmartPoin
colors[cp * 3 + 1] = static_cast<unsigned char> (g_);
colors[cp * 3 + 2] = static_cast<unsigned char> (b_);
}
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
return (true);
scalars->SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
return scalars;
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerRandom<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
template <typename PointT> vtkSmartPointer<vtkDataArray>
pcl::visualization::PointCloudColorHandlerRandom<PointT>::getColor () const
{
if (!capable_ || !cloud_)
return (false);
return nullptr;

if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);

vtkIdType nr_points = cloud_->points.size ();
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
scalars->SetNumberOfTuples (nr_points);

// Get a random color
unsigned char* colors = new unsigned char[nr_points * 3];
Expand All @@ -102,8 +100,8 @@ pcl::visualization::PointCloudColorHandlerRandom<PointT>::getColor (vtkSmartPoin
colors[cp * 3 + 1] = static_cast<unsigned char> (g_);
colors[cp * 3 + 2] = static_cast<unsigned char> (b_);
}
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
return (true);
scalars->SetArray (colors, 3 * nr_points, 0, vtkUnsignedCharArray::VTK_DATA_ARRAY_DELETE);
return scalars;
}

///////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -130,12 +128,12 @@ pcl::visualization::PointCloudColorHandlerRGBField<PointT>::setInputCloud (
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
template <typename PointT> vtkSmartPointer<vtkDataArray>
pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor () const
{
if (!capable_ || !cloud_)
return (false);
return nullptr;

// Get the RGB field index
std::vector<pcl::PCLPointField> fields;
int rgba_index = -1;
Expand All @@ -145,13 +143,12 @@ pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPo

int rgba_offset = fields[rgba_index].offset;

if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);

vtkIdType nr_points = cloud_->points.size ();
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
scalars->SetNumberOfTuples (nr_points);
unsigned char* colors = scalars->GetPointer (0);

int j = 0;
// If XYZ present, check if the points are invalid
Expand Down Expand Up @@ -191,7 +188,7 @@ pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPo
colors[idx + 2] = rgb.b;
}
}
return (true);
return scalars;
}

///////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -226,19 +223,18 @@ pcl::visualization::PointCloudColorHandlerHSVField<PointT>::PointCloudColorHandl
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
template <typename PointT> vtkSmartPointer<vtkDataArray>
pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor () const
{
if (!capable_ || !cloud_)
return (false);
return nullptr;

if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);

vtkIdType nr_points = cloud_->points.size ();
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
scalars->SetNumberOfTuples (nr_points);
unsigned char* colors = scalars->GetPointer (0);

int idx = 0;
// If XYZ present, check if the points are invalid
Expand Down Expand Up @@ -360,7 +356,7 @@ pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor (vtkSmartPo
idx +=3;
}
}
return (true);
return scalars;
}

///////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -377,18 +373,17 @@ pcl::visualization::PointCloudColorHandlerGenericField<PointT>::setInputCloud (
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerGenericField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
template <typename PointT> vtkSmartPointer<vtkDataArray>
pcl::visualization::PointCloudColorHandlerGenericField<PointT>::getColor () const
{
if (!capable_ || !cloud_)
return (false);
return nullptr;

if (!scalars)
scalars = vtkSmartPointer<vtkFloatArray>::New ();
auto scalars = vtkSmartPointer<vtkFloatArray>::New ();
scalars->SetNumberOfComponents (1);

vtkIdType nr_points = cloud_->points.size ();
reinterpret_cast<vtkFloatArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
scalars->SetNumberOfTuples (nr_points);

using FieldList = typename pcl::traits::fieldList<PointT>::type;

Expand Down Expand Up @@ -433,8 +428,8 @@ pcl::visualization::PointCloudColorHandlerGenericField<PointT>::getColor (vtkSma
j++;
}
}
reinterpret_cast<vtkFloatArray*>(&(*scalars))->SetArray (colors, j, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);
return (true);
scalars->SetArray (colors, j, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);
return scalars;
}

///////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -452,19 +447,18 @@ pcl::visualization::PointCloudColorHandlerRGBAField<PointT>::setInputCloud (
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerRGBAField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
template <typename PointT> vtkSmartPointer<vtkDataArray>
pcl::visualization::PointCloudColorHandlerRGBAField<PointT>::getColor () const
{
if (!capable_ || !cloud_)
return (false);
return nullptr;

if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (4);

vtkIdType nr_points = cloud_->points.size ();
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
scalars->SetNumberOfTuples (nr_points);
unsigned char* colors = scalars->GetPointer (0);

int j = 0;
// If XYZ present, check if the points are invalid
Expand Down Expand Up @@ -503,7 +497,7 @@ pcl::visualization::PointCloudColorHandlerRGBAField<PointT>::getColor (vtkSmartP
colors[idx + 3] = cloud_->points[cp].a;
}
}
return (true);
return scalars;
}

///////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -520,19 +514,18 @@ pcl::visualization::PointCloudColorHandlerLabelField<PointT>::setInputCloud (con
}

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerLabelField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
template <typename PointT> vtkSmartPointer<vtkDataArray>
pcl::visualization::PointCloudColorHandlerLabelField<PointT>::getColor () const
{
if (!capable_ || !cloud_)
return (false);
return nullptr;

if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);

vtkIdType nr_points = cloud_->points.size ();
reinterpret_cast<vtkUnsignedCharArray*> (&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*> (&(*scalars))->GetPointer (0);
scalars->SetNumberOfTuples (nr_points);
unsigned char* colors = scalars->GetPointer (0);


std::map<uint32_t, pcl::RGB> colormap;
Expand Down Expand Up @@ -562,7 +555,7 @@ pcl::visualization::PointCloudColorHandlerLabelField<PointT>::getColor (vtkSmart
}
}

return (true);
return scalars;
}

#endif // PCL_POINT_CLOUD_COLOR_HANDLERS_IMPL_HPP_
Expand Down
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