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Add PCLVisualizer::containsCloud. #1181

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May 16, 2015
Merged

Add PCLVisualizer::containsCloud. #1181

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a9e8d8c
Add PCLVisualizer::contains().
sotte Mar 19, 2015
4a4eb21
Use contains() in most add* functions
sotte Mar 22, 2015
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97 changes: 32 additions & 65 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 @@ -82,12 +82,9 @@ pcl::visualization::PCLVisualizer::addPointCloud (
const PointCloudGeometryHandler<PointT> &geometry_handler,
const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addPointCloud] A PointCloud with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addPointCloud] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand All @@ -103,13 +100,11 @@ pcl::visualization::PCLVisualizer::addPointCloud (
const GeometryHandlerConstPtr &geometry_handler,
const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
// Here we're just pushing the handlers onto the queue. If needed, something fancier could
// be done such as checking if a specific handler already exists, etc.
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
am_it->second.geometry_handlers.push_back (geometry_handler);
return (true);
}
Expand All @@ -126,12 +121,9 @@ pcl::visualization::PCLVisualizer::addPointCloud (
const PointCloudColorHandler<PointT> &color_handler,
const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addPointCloud] A PointCloud with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addPointCloud] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());

// Here we're just pushing the handlers onto the queue. If needed, something fancier could
// be done such as checking if a specific handler already exists, etc.
Expand Down Expand Up @@ -194,12 +186,9 @@ pcl::visualization::PCLVisualizer::addPointCloud (
const PointCloudGeometryHandler<PointT> &geometry_handler,
const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addPointCloud] A PointCloud with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addPointCloud] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
// Here we're just pushing the handlers onto the queue. If needed, something fancier could
// be done such as checking if a specific handler already exists, etc.
//cloud_actor_map_[id].geometry_handlers.push_back (geometry_handler);
Expand Down Expand Up @@ -454,11 +443,9 @@ pcl::visualization::PCLVisualizer::addPolygon (
template <typename P1, typename P2> bool
pcl::visualization::PCLVisualizer::addLine (const P1 &pt1, const P2 &pt2, double r, double g, double b, const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addLine] A shape with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addLine] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand All @@ -481,11 +468,9 @@ pcl::visualization::PCLVisualizer::addLine (const P1 &pt1, const P2 &pt2, double
template <typename P1, typename P2> bool
pcl::visualization::PCLVisualizer::addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addArrow] A shape with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addArrow] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand All @@ -510,11 +495,9 @@ pcl::visualization::PCLVisualizer::addArrow (const P1 &pt1, const P2 &pt2, doubl
template <typename P1, typename P2> bool
pcl::visualization::PCLVisualizer::addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b, bool display_length, const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addArrow] A shape with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addArrow] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down Expand Up @@ -545,11 +528,9 @@ pcl::visualization::PCLVisualizer::addArrow (const P1 &pt1, const P2 &pt2,
double r_text, double g_text, double b_text,
const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addArrow] A shape with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addArrow] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down Expand Up @@ -583,11 +564,9 @@ pcl::visualization::PCLVisualizer::addLine (const P1 &pt1, const P2 &pt2, const
template <typename PointT> bool
pcl::visualization::PCLVisualizer::addSphere (const PointT &center, double radius, double r, double g, double b, const std::string &id, int viewport)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it != shape_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addSphere] A shape with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addSphere] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down Expand Up @@ -632,13 +611,14 @@ pcl::visualization::PCLVisualizer::addSphere (const PointT &center, double radiu
template<typename PointT> bool
pcl::visualization::PCLVisualizer::updateSphere (const PointT &center, double radius, double r, double g, double b, const std::string &id)
{
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
if (am_it == shape_actor_map_->end ())
if (contains (id))
{
return (false);
}

//////////////////////////////////////////////////////////////////////////
// Get the actor pointer
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
#if VTK_MAJOR_VERSION < 6
vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
Expand Down Expand Up @@ -674,11 +654,9 @@ pcl::visualization::PCLVisualizer::addText3D (
else
tid = id;

// Check to see if this ID entry already exists (has it been already added to the visualizer?)
ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
if (am_it != shape_actor_map_->end ())
if (contains (tid))
{
pcl::console::print_warn (stderr, "[addText3d] A text with id <%s> already exists! Please choose a different id and retry.\n", tid.c_str ());
PCL_WARN ("[addText3D] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down Expand Up @@ -744,12 +722,9 @@ pcl::visualization::PCLVisualizer::addPointCloudNormals (
PCL_ERROR ("[addPointCloudNormals] The number of points differs from the number of normals!\n");
return (false);
}
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addPointCloudNormals] A PointCloud with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addPointCloudNormals] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down Expand Up @@ -872,12 +847,10 @@ pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures (
pcl::console::print_error ("[addPointCloudPrincipalCurvatures] The number of points differs from the number of principal curvatures/normals!\n");
return (false);
}
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
pcl::console::print_warn (stderr, "[addPointCloudPrincipalCurvatures] A PointCloud with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addPointCloudPrincipalCurvatures] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down Expand Up @@ -989,12 +962,9 @@ pcl::visualization::PCLVisualizer::addPointCloudIntensityGradients (
PCL_ERROR ("[addPointCloudGradients] The number of points differs from the number of gradients!\n");
return (false);
}
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
CloudActorMap::iterator am_it = cloud_actor_map_->find (id);

if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
PCL_WARN ("[addPointCloudGradients] A PointCloud with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
PCL_WARN ("[addPointCloudGradients] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down Expand Up @@ -1571,12 +1541,9 @@ pcl::visualization::PCLVisualizer::addPolygonMesh (
if (vertices.empty () || cloud->points.empty ())
return (false);

CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
if (am_it != cloud_actor_map_->end ())
if (contains (id))
{
pcl::console::print_warn (stderr,
"[addPolygonMesh] A shape with id <%s> already exists! Please choose a different id and retry.\n",
id.c_str ());
PCL_WARN ("[addPolygonMesh] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
return (false);
}

Expand Down
12 changes: 12 additions & 0 deletions visualization/include/pcl/visualization/pcl_visualizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -579,6 +579,18 @@ namespace pcl
double r = 1.0, double g = 1.0, double b = 1.0,
const std::string &id = "", int viewport = 0);

/** \brief Check if the cloud, shape, or coordinate with the given id was already added to this vizualizer.
* \param[in] id the id of the cloud, shape, or coordinate to check
* \return true if a cloud, shape, or coordinate with the specified id was found
*/
inline bool
contains(const std::string &id) const
{
return (cloud_actor_map_->find (id) != cloud_actor_map_->end () ||
shape_actor_map_->find (id) != shape_actor_map_->end () ||
coordinate_actor_map_->find (id) != coordinate_actor_map_-> end());
}

/** \brief Add the estimated surface normals of a Point Cloud to screen.
* \param[in] cloud the input point cloud dataset containing XYZ data and normals
* \param[in] level display only every level'th point (default: 100)
Expand Down