47 lines
1.9 KiB
C
47 lines
1.9 KiB
C
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#pragma once
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#include <pcl/visualization/pcl_visualizer.h>
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#include <pcl/visualization/point_cloud_handlers.h>
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#include <pcl/visualization/impl/pcl_visualizer.hpp>
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#include <pcl/visualization/impl/point_cloud_geometry_handlers.hpp>
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#include <string>
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#include "common/color/color.h"
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#include "common/pcl/pcl_types.h"
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namespace common {
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using PCLVisualizer = pcl::visualization::PCLVisualizer;
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#define PCLColorHandlerCustom pcl::visualization::PointCloudColorHandlerCustom
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#define PCLColorHandlerGenericField \
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pcl::visualization::PointCloudColorHandlerGenericField
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template <typename PointType>
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void AddPointCloud(const typename pcl::PointCloud<PointType>::ConstPtr& cloud,
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const Color& color, const std::string& id,
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PCLVisualizer* const viewer, int point_size = 3) {
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PCLColorHandlerCustom<PointType> color_handler(cloud, color.r, color.g,
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color.b);
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viewer->addPointCloud<PointType>(cloud, color_handler, id);
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viewer->setPointCloudRenderingProperties(
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pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, id);
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}
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template <typename PointType>
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void AddPointCloud(const typename pcl::PointCloud<PointType>::ConstPtr& cloud,
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const std::string& field, const std::string& id,
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PCLVisualizer* const viewer, int point_size = 3) {
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PCLColorHandlerGenericField<PointType> color_handler(cloud, field);
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viewer->addPointCloud<PointType>(cloud, color_handler, id);
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viewer->setPointCloudRenderingProperties(
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pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, id);
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}
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void AddLine(const pcl::PointXYZ& pt1, const pcl::PointXYZ& pt2,
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const Color& color, const std::string& id,
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PCLVisualizer* const viewer);
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void DrawSphere(const pcl::PointXYZ& center, double radius, const Color& color,
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const std::string& id, PCLVisualizer* const viewer);
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} // namespace common
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