Point Cloud Library (PCL)  1.14.1-dev
actor_map.h
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37 
38 #pragma once
39 
40 #include <pcl/visualization/point_cloud_geometry_handlers.h> // for PointCloudGeometryHandler
41 #include <pcl/visualization/point_cloud_color_handlers.h> // for PointCloudColorHandler
42 #include <pcl/PCLPointCloud2.h>
43 
44 #include <vtkLODActor.h>
45 #include <vtkSmartPointer.h>
46 #include <vtkIdTypeArray.h>
47 
48 #include <unordered_map>
49 #include <vector>
50 
51 template <typename T> class vtkSmartPointer;
52 class vtkLODActor;
53 class vtkProp;
54 
55 namespace pcl
56 {
57  namespace visualization
58  {
60  {
62  using GeometryHandlerPtr = GeometryHandler::Ptr;
63  using GeometryHandlerConstPtr = GeometryHandler::ConstPtr;
64 
66  using ColorHandlerPtr = ColorHandler::Ptr;
67  using ColorHandlerConstPtr = ColorHandler::ConstPtr;
68 
69  public:
70  CloudActor () = default;
71 
72  virtual ~CloudActor () = default;
73 
74  /** \brief The actor holding the data to render. */
76 
77  /** \brief A vector of geometry handlers that can be used for rendering the data. */
78  std::vector<GeometryHandlerConstPtr> geometry_handlers;
79 
80  /** \brief A vector of color handlers that can be used for rendering the data. */
81  std::vector<ColorHandlerConstPtr> color_handlers;
82 
83  /** \brief The active color handler. */
84  int color_handler_index_{0};
85 
86  /** \brief The active geometry handler. */
87  int geometry_handler_index_{0};
88 
89  /** \brief The viewpoint transformation matrix. */
91 
92  /** \brief Internal cell array. Used for optimizing updatePointCloud. */
94  };
95 
96  using CloudActorMap = std::unordered_map<std::string, CloudActor>;
97  using CloudActorMapPtr = shared_ptr<CloudActorMap>;
98 
99  using ShapeActorMap = std::unordered_map<std::string, vtkSmartPointer<vtkProp> >;
100  using ShapeActorMapPtr = shared_ptr<ShapeActorMap>;
101 
102  using CoordinateActorMap = std::unordered_map<std::string, vtkSmartPointer<vtkProp> >;
103  using CoordinateActorMapPtr = shared_ptr<CoordinateActorMap>;
104  }
105 }
vtkSmartPointer< vtkLODActor > actor
The actor holding the data to render.
Definition: actor_map.h:75
vtkSmartPointer< vtkIdTypeArray > cells
Internal cell array.
Definition: actor_map.h:93
std::vector< ColorHandlerConstPtr > color_handlers
A vector of color handlers that can be used for rendering the data.
Definition: actor_map.h:81
virtual ~CloudActor()=default
vtkSmartPointer< vtkMatrix4x4 > viewpoint_transformation_
The viewpoint transformation matrix.
Definition: actor_map.h:90
std::vector< GeometryHandlerConstPtr > geometry_handlers
A vector of geometry handlers that can be used for rendering the data.
Definition: actor_map.h:78
shared_ptr< const PointCloudColorHandler< PointCloud > > ConstPtr
shared_ptr< const PointCloudGeometryHandler< PointCloud > > ConstPtr
std::unordered_map< std::string, CloudActor > CloudActorMap
Definition: actor_map.h:96
std::unordered_map< std::string, vtkSmartPointer< vtkProp > > ShapeActorMap
Definition: actor_map.h:99
shared_ptr< CloudActorMap > CloudActorMapPtr
Definition: actor_map.h:97
std::unordered_map< std::string, vtkSmartPointer< vtkProp > > CoordinateActorMap
Definition: actor_map.h:102
shared_ptr< ShapeActorMap > ShapeActorMapPtr
Definition: actor_map.h:100
shared_ptr< CoordinateActorMap > CoordinateActorMapPtr
Definition: actor_map.h:103
#define PCL_EXPORTS
Definition: pcl_macros.h:323