oh_my_loam/common/visualizer/lidar_visualizer_utils.h

#pragma once

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_handlers.h>

#include <pcl/visualization/impl/pcl_visualizer.hpp>
#include <pcl/visualization/impl/point_cloud_geometry_handlers.hpp>
#include <string>

#include "common/color/color.h"
#include "common/pcl/pcl_types.h"

namespace common {

using PCLVisualizer = pcl::visualization::PCLVisualizer;
#define PCLColorHandlerCustom pcl::visualization::PointCloudColorHandlerCustom
#define PCLColorHandlerGenericField \
  pcl::visualization::PointCloudColorHandlerGenericField

template <typename PointType>
void AddPointCloud(const typename pcl::PointCloud<PointType>::ConstPtr& cloud,
                   const Color& color, const std::string& id,
                   PCLVisualizer* const viewer, int point_size = 3) {
  PCLColorHandlerCustom<PointType> color_handler(cloud, color.r, color.g,
                                                 color.b);
  viewer->addPointCloud<PointType>(cloud, color_handler, id);
  viewer->setPointCloudRenderingProperties(
      pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, id);
}

template <typename PointType>
void AddPointCloud(const typename pcl::PointCloud<PointType>::ConstPtr& cloud,
                   const std::string& field, const std::string& id,
                   PCLVisualizer* const viewer, int point_size = 3) {
  PCLColorHandlerGenericField<PointType> color_handler(cloud, field);
  viewer->addPointCloud<PointType>(cloud, color_handler, id);
  viewer->setPointCloudRenderingProperties(
      pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, id);
}

void AddLine(const pcl::PointXYZ& pt1, const pcl::PointXYZ& pt2,
             const Color& color, const std::string& id,
             PCLVisualizer* const viewer);

void DrawSphere(const pcl::PointXYZ& center, double radius, const Color& color,
                const std::string& id, PCLVisualizer* const viewer);

}  // namespace common