Point Cloud Library (PCL) 1.13.1
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actor_map.h
1/*
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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
51template <typename T> class vtkSmartPointer;
52class vtkLODActor;
53class vtkProp;
54
55namespace pcl
56{
57 namespace visualization
58 {
59 class PCL_EXPORTS CloudActor
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 () : color_handler_index_ (0), geometry_handler_index_ (0) {}
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. */
85
86 /** \brief The active geometry handler. */
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
int color_handler_index_
The active color handler.
Definition actor_map.h:84
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
int geometry_handler_index_
The active geometry handler.
Definition actor_map.h:87
shared_ptr< const PointCloudColorHandler< PointCloud > > ConstPtr
Base Handler class for PointCloud colors.
shared_ptr< const PointCloudGeometryHandler< PointCloud > > ConstPtr
Base handler class for PointCloud geometry.
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