56 lines
2.1 KiB
C++
56 lines
2.1 KiB
C++
#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/geometry/trajectory.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 PT>
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void AddPointCloud(const typename pcl::PointCloud<PT>::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<PT> color_handler(cloud, color.r, color.g, color.b);
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viewer->addPointCloud<PT>(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 PT>
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void AddPointCloud(const typename pcl::PointCloud<PT>::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<PT> color_handler(cloud, field);
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viewer->addPointCloud<PT>(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 PT>
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void AddLine(const PT &pt1, const PT &pt2, const Color &color,
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const std::string &id, PCLVisualizer *const viewer) {
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viewer->addLine(pt1, pt2, color.r, color.g, color.b, id);
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}
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template <typename PT>
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void AddSphere(const PT ¢er, double radius, const Color &color,
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const std::string &id, PCLVisualizer *const viewer) {
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viewer->addSphere(center, radius, color.r, color.g, color.b, id);
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}
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void AddTrajectory(const Trajectory &trajectory, const Color &color,
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const std::string &id, PCLVisualizer *const viewer);
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} // namespace common
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