actor_map.h

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#pragma once
 
#include <pcl/visualization/point_cloud_geometry_handlers.h> // for PointCloudGeometryHandler
#include <pcl/visualization/point_cloud_color_handlers.h> // for PointCloudColorHandler
#include <pcl/PCLPointCloud2.h>
 
#include <vtkLODActor.h>
#include <vtkSmartPointer.h>
#include <vtkIdTypeArray.h>
 
#include <unordered_map>
#include <vector>
 
template <typename T> class vtkSmartPointer;
class vtkLODActor;
class vtkProp;
 
namespace pcl
{
  namespace visualization
  {
    class PCL_EXPORTS CloudActor
    {
      using GeometryHandler = PointCloudGeometryHandler<pcl::PCLPointCloud2>;
      using GeometryHandlerPtr = GeometryHandler::Ptr;
      using GeometryHandlerConstPtr = GeometryHandler::ConstPtr;
 
      using ColorHandler = PointCloudColorHandler<pcl::PCLPointCloud2>;
      using ColorHandlerPtr = ColorHandler::Ptr;
      using ColorHandlerConstPtr = ColorHandler::ConstPtr;
 
      public:
        CloudActor () : color_handler_index_ (0), geometry_handler_index_ (0) {}
 
        virtual ~CloudActor () = default;
 
        /** \brief The actor holding the data to render. */
        vtkSmartPointer<vtkLODActor> actor;
 
        /** \brief A vector of geometry handlers that can be used for rendering the data. */
        std::vector<GeometryHandlerConstPtr> geometry_handlers;
 
        /** \brief A vector of color handlers that can be used for rendering the data. */
        std::vector<ColorHandlerConstPtr> color_handlers;
 
        /** \brief The active color handler. */
        int color_handler_index_;
 
        /** \brief The active geometry handler. */
        int geometry_handler_index_;
 
        /** \brief The viewpoint transformation matrix. */
        vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
 
        /** \brief Internal cell array. Used for optimizing updatePointCloud. */
        vtkSmartPointer<vtkIdTypeArray> cells;
    };
 
    using CloudActorMap = std::unordered_map<std::string, CloudActor>;
    using CloudActorMapPtr = shared_ptr<CloudActorMap>;
 
    using ShapeActorMap = std::unordered_map<std::string, vtkSmartPointer<vtkProp> >;
    using ShapeActorMapPtr = shared_ptr<ShapeActorMap>;
 
    using CoordinateActorMap = std::unordered_map<std::string, vtkSmartPointer<vtkProp> >;
    using CoordinateActorMapPtr = shared_ptr<CoordinateActorMap>;
  }
}