Improve 'u' key in PCLVisualizer: search in shapes LUT too

visualization/include/pcl/visualization/interactor_style.h

@@ -114,11 +114,11 @@ namespace pcl
 
         /** \brief Empty constructor. */
         PCLVisualizerInteractorStyle () : 
-          init_ (), rens_ (), actors_ (), win_height_ (), win_width_ (), win_pos_x_ (), win_pos_y_ (),
-          max_win_height_ (), max_win_width_ (), grid_enabled_ (), grid_actor_ (), lut_enabled_ (),
+          init_ (), rens_ (), cloud_actors_ (), shape_actors_ (), win_height_ (), win_width_ (), win_pos_x_ (), win_pos_y_ (),
+          max_win_height_ (), max_win_width_ (), use_vbos_ (false), grid_enabled_ (), grid_actor_ (), lut_enabled_ (),
           lut_actor_ (), snapshot_writer_ (), wif_ (), mouse_signal_ (), keyboard_signal_ (),
           point_picking_signal_ (), area_picking_signal_ (), stereo_anaglyph_mask_default_ (),
-          mouse_callback_ (), modifier_ (), camera_file_ (), camera_ (), camera_saved_ (), win_ ()
+          mouse_callback_ (), modifier_ (), camera_file_ (), camera_ (), camera_saved_ (), win_ (), lut_actor_id_ ("")
         {}
 
         /** \brief Empty destructor */
@@ -131,15 +131,25 @@ namespace pcl
         virtual void 
         Initialize ();
 
-        /** \brief Pass a pointer to the actor map
+        /** \brief Pass a pointer to the cloud actor map
+          * \param[in] actors the actor map that will be used with this style
+          */
+        inline void
+        setCloudActorMap (const CloudActorMapPtr &actors) { cloud_actors_ = actors; }
+
+        /** \brief Pass a pointer to the shape actor map
           * \param[in] actors the actor map that will be used with this style
           */
         inline void 
-        setCloudActorMap (const CloudActorMapPtr &actors) { actors_ = actors; }
+        setShapeActorMap (const ShapeActorMapPtr &actors) { shape_actors_ = actors; }
 
         /** \brief Get the cloud actor map pointer. */
         inline CloudActorMapPtr 
-        getCloudActorMap () { return (actors_); }
+        getCloudActorMap () { return (cloud_actors_); }
+
+        /** \brief Get the cloud actor map pointer. */
+        inline ShapeActorMapPtr
+        getShapeActorMap () { return (shape_actors_); }
 
         /** \brief Pass a set of renderers to the interactor style. 
           * \param[in] rens the vtkRendererCollection to use
@@ -257,8 +267,11 @@ namespace pcl
         /** \brief Collection of vtkRenderers stored internally. */
         vtkSmartPointer<vtkRendererCollection> rens_;
 
-        /** \brief Actor map stored internally. */
-        CloudActorMapPtr actors_;
+        /** \brief Cloud actor map stored internally. */
+        CloudActorMapPtr cloud_actors_;
+
+        /** \brief Shape map stored internally. */
+        ShapeActorMapPtr shape_actors_;
 
         /** \brief The current window width/height. */
         int win_height_, win_width_;
@@ -374,6 +387,18 @@ namespace pcl
 
         friend class PointPickingCallback;
         friend class PCLVisualizer;
+
+       private:
+        /** \brief ID used to fetch/display the look up table on the visualizer
+         * It should be set by PCLVisualizer \ref setLookUpTableID
+         * @note If empty, a random actor added to the interactor will be used */
+        std::string lut_actor_id_;
+
+        /** \brief Add/remove the look up table displayed when 'u' is pressed, can also be used to update the current LUT displayed
+         * \ref lut_actor_id_ is used (if not empty) to chose which cloud/shape actor LUT will be updated (depending on what is available)
+         * If \ref lut_actor_id_ is empty the first actor with LUT support found will be used. */
+        void
+        updateLookUpTableDisplay (bool add_lut = false);
     };
 
     /** \brief PCL histogram visualizer interactory style class.

visualization/include/pcl/visualization/pcl_visualizer.h

@@ -1403,18 +1403,6 @@ namespace pcl
                               const std::string &id = "PolyData",
                               int viewport = 0);
 
-        /** \brief Add a vtkPolyDataMapper as a mesh
-         * \param[in] polydatamapper vtkPolyDataMapper
-         * \param[in] id the model id/name (default: "PolyDataMapper")
-         * \param[in] viewport (optional) the id of the new viewport (default: 0)
-         * \return True if successful, false otherwise
-         * \note This allows to display a colored mesh, also see \ref PCL_VISUALIZER_LUT.
-         */
-       bool
-       addModelFromPolyData (vtkSmartPointer<vtkPolyDataMapper> polydatamapper,
-                             const std::string & id = "PolyDataMapper",
-                             int viewport = 0);
-
         /** \brief Add a PLYmodel as a mesh
           * \param[in] filename of the ply file
           * \param[in] id the model id/name (default: "PLYModel")
@@ -1872,6 +1860,12 @@ namespace pcl
         void
         setUseVbos (bool use_vbos);
 
+        /** \brief Set the ID of a cloud or shape to be used for LUT display
+          * \param[in] id The id of the cloud/shape look up table to be displayed
+          * The look up table is displayed by pressing 'u' in the PCLVisualizer */
+        void
+        setLookUpTableID (const std::string id);
+
         /** \brief Create the internal Interactor object. */
         void
         createInteractor ();

visualization/src/interactor_style.cpp

@@ -634,7 +634,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
     // Geometry ?
     if (keymod)
     {
-      for (it = actors_->begin (); it != actors_->end (); ++it)
+      for (it = cloud_actors_->begin (); it != cloud_actors_->end (); ++it)
       {
         CloudActor *act = &(*it).second;
         if (index >= static_cast<int> (act->geometry_handlers.size ()))
@@ -683,7 +683,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
     }
     else
     {
-      for (it = actors_->begin (); it != actors_->end (); ++it)
+      for (it = cloud_actors_->begin (); it != cloud_actors_->end (); ++it)
       {
         CloudActor *act = &(*it).second;
         // Check for out of bounds
@@ -786,7 +786,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
     case 'l': case 'L':
     {
       // Iterate over the entire actors list and extract the geomotry/color handlers list
-      for (CloudActorMap::iterator it = actors_->begin (); it != actors_->end (); ++it)
+      for (CloudActorMap::iterator it = cloud_actors_->begin (); it != cloud_actors_->end (); ++it)
       {
         std::list<std::string> geometry_handlers_list, color_handlers_list;
         CloudActor *act = &(*it).second;
@@ -1057,27 +1057,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
     // Display a LUT actor on screen
     case 'u': case 'U':
     {
-      CloudActorMap::iterator it;
-      for (it = actors_->begin (); it != actors_->end (); ++it)
-      {
-        CloudActor *act = &(*it).second;
-
-        vtkScalarsToColors* lut = act->actor->GetMapper ()->GetLookupTable ();
-        lut_actor_->SetLookupTable (lut);
-        lut_actor_->Modified ();
-      }
-      if (!lut_enabled_)
-      {
-        CurrentRenderer->AddActor (lut_actor_);
-        lut_actor_->SetVisibility (true);
-        lut_enabled_ = true;
-      }
-      else
-      {
-        CurrentRenderer->RemoveActor (lut_actor_);
-        lut_enabled_ = false;
-      }
-      CurrentRenderer->Render ();
+      updateLookUpTableDisplay (true);
       break;
     }
 
@@ -1098,13 +1078,13 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
 
       vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
 
-      static CloudActorMap::iterator it = actors_->begin ();
+      static CloudActorMap::iterator it = cloud_actors_->begin ();
       // it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
       bool found_transformation = false;
-      for (unsigned idx = 0; idx < actors_->size (); ++idx, ++it)
+      for (unsigned idx = 0; idx < cloud_actors_->size (); ++idx, ++it)
       {
-        if (it == actors_->end ())
-          it = actors_->begin ();
+        if (it == cloud_actors_->end ())
+          it = cloud_actors_->begin ();
 
         const CloudActor& actor = it->second;
         if (actor.viewpoint_transformation_.GetPointer ())
@@ -1138,10 +1118,10 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
       }
 
       // go to the next actor for the next key-press event.
-      if (it != actors_->end ())
+      if (it != cloud_actors_->end ())
         ++it;
       else
-        it = actors_->begin ();
+        it = cloud_actors_->begin ();
 
       CurrentRenderer->SetActiveCamera (cam);
       CurrentRenderer->ResetCameraClippingRange ();
@@ -1187,6 +1167,135 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
   Interactor->Render ();
 }
 
+//////////////////////////////////////////////////////////////////////////////////////////////
+// Update the look up table displayed when 'u' is pressed
+void
+pcl::visualization::PCLVisualizerInteractorStyle::updateLookUpTableDisplay (bool add_lut)
+{
+  CloudActorMap::iterator am_it;
+  ShapeActorMap::iterator sm_it;
+  bool actor_found = false;
+
+  if (lut_actor_id_ != "")  // Search if provided actor id is in CloudActorMap or ShapeActorMap
+  {
+    am_it = cloud_actors_->find (lut_actor_id_);
+    if (am_it == cloud_actors_->end ())
+    {
+      sm_it = shape_actors_->find (lut_actor_id_);
+      if (sm_it == shape_actors_->end ())
+      {
+        PCL_WARN ("[updateLookUpTableDisplay] Could not find any actor with id <%s>!\n", lut_actor_id_.c_str ());
+        if (lut_enabled_)
+        {  // Remove LUT and exit
+          CurrentRenderer->RemoveActor (lut_actor_);
+          lut_enabled_ = false;
+        }
+        return;
+      }
+
+      // ShapeActor found
+      vtkSmartPointer<vtkProp> *act = & (*sm_it).second;
+      vtkSmartPointer<vtkActor> actor = vtkActor::SafeDownCast (*act);
+      if (!actor || !actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
+      {
+        PCL_WARN ("[updateLookUpTableDisplay] id <%s> does not hold any color information!\n", lut_actor_id_.c_str ());
+        if (lut_enabled_)
+        {  // Remove LUT and exit
+          CurrentRenderer->RemoveActor (lut_actor_);
+          lut_enabled_ = false;
+        }
+        return;
+      }
+
+      lut_actor_->SetLookupTable (actor->GetMapper ()->GetLookupTable ());
+      lut_actor_->Modified ();
+      actor_found = true;
+    }
+    else
+    {
+      // CloudActor
+      CloudActor *act = & (*am_it).second;
+      if (!act->actor->GetMapper ()->GetLookupTable () && !act->actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
+      {
+        PCL_WARN ("[updateLookUpTableDisplay] id <%s> does not hold any color information!\n", lut_actor_id_.c_str ());
+        if (lut_enabled_)
+        {  // Remove LUT and exit
+          CurrentRenderer->RemoveActor (lut_actor_);
+          lut_enabled_ = false;
+        }
+        return;
+      }
+
+      vtkScalarsToColors* lut = act->actor->GetMapper ()->GetLookupTable ();
+      lut_actor_->SetLookupTable (lut);
+      lut_actor_->Modified ();
+      actor_found = true;
+    }
+  }
+  else  // lut_actor_id_ == "", the user did not specify which cloud/shape LUT should be displayed
+  // Circling through all clouds/shapes and displaying first LUT found
+  {
+    for (am_it = cloud_actors_->begin (); am_it != cloud_actors_->end (); ++am_it)
+    {
+      CloudActor *act = & (*am_it).second;
+      if (!act->actor->GetMapper ()->GetLookupTable ())
+        continue;
+
+      if (!act->actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
+        continue;
+
+      vtkScalarsToColors* lut = act->actor->GetMapper ()->GetLookupTable ();
+      lut_actor_->SetLookupTable (lut);
+      lut_actor_->Modified ();
+      actor_found = true;
+      break;
+    }
+
+    if (!actor_found)
+    {
+      for (sm_it = shape_actors_->begin (); sm_it != shape_actors_->end (); ++sm_it)
+      {
+        vtkSmartPointer<vtkProp> *act = & (*sm_it).second;
+        vtkSmartPointer<vtkActor> actor = vtkActor::SafeDownCast (*act);
+        if (!actor)
+          continue;
+
+        if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())  // Check if actor has scalars
+          continue;
+        lut_actor_->SetLookupTable (actor->GetMapper ()->GetLookupTable ());
+        lut_actor_->Modified ();
+        actor_found = true;
+        break;
+      }
+    }
+  }
+
+  if (!actor_found)
+    PCL_WARN ("[updateLookUpTableDisplay] No actor was found with LUT information!\n");
+
+  if (!actor_found || (lut_enabled_ && add_lut))  // Remove actor
+  {
+    CurrentRenderer->RemoveActor (lut_actor_);
+    lut_enabled_ = false;
+  }
+  else if (!lut_enabled_ && add_lut)  // Add actor
+  {
+    CurrentRenderer->AddActor (lut_actor_);
+    lut_actor_->SetVisibility (true);
+    lut_enabled_ = true;
+  }
+  else if (lut_enabled_)  // Update actor (if displayed)
+  {
+    CurrentRenderer->RemoveActor (lut_actor_);
+    CurrentRenderer->AddActor (lut_actor_);
+  }
+  else
+    return;
+
+  CurrentRenderer->Render ();
+  return;
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl::visualization::PCLVisualizerInteractorStyle::OnKeyUp ()