Use strongly typed 'enum' instead of 'int' for properties in PCLVisua…

…lizer code
PointCloudLibrary · Nov 27, 2022 · 1d9340d · 1d9340d
1 parent 58f9cfb
commit 1d9340d
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Showing 77 changed files with 438 additions and 334 deletions.
diff --git a/apps/cloud_composer/src/items/cloud_item.cpp b/apps/cloud_composer/src/items/cloud_item.cpp
@@ -71,8 +71,8 @@ void
 pcl::cloud_composer::CloudItem::paintView (pcl::visualization::PCLVisualizer::Ptr vis) const
 {
   vis->addPointCloud (cloud_blob_ptr_, geometry_handler_, color_handler_, origin_, orientation_, getId ().toStdString ());
-  vis->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, properties_->getProperty ("Point Size").toDouble (), getId ().toStdString ());
-  vis->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, properties_->getProperty ("Opacity").toDouble (), getId ().toStdString ());
+  vis->setPointCloudRenderingProperties (pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, properties_->getProperty ("Point Size").toDouble (), getId ().toStdString ());
+  vis->setPointCloudRenderingProperties (pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY, properties_->getProperty ("Opacity").toDouble (), getId ().toStdString ());
 
 }
 

diff --git a/apps/src/face_detection/filesystem_face_detection.cpp b/apps/src/face_detection/filesystem_face_detection.cpp
@@ -82,7 +82,9 @@ run(pcl::RFFaceDetectorTrainer& fdrf,
         handler_votes(votes_cloud, "intensity");
     vis.addPointCloud<pcl::PointXYZI>(votes_cloud, handler_votes, "votes_cloud");
     vis.setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 14, "votes_cloud");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+        14,
+        "votes_cloud");
   }
 
   vis.addCoordinateSystem(0.1, "global");

diff --git a/apps/src/face_detection/openni_face_detection.cpp b/apps/src/face_detection/openni_face_detection.cpp
@@ -70,11 +70,17 @@ run(pcl::RFFaceDetectorTrainer& fdrf, bool heat_map = false, bool show_votes = f
           votes_cloud, 255, 0, 0);
       vis.addPointCloud<pcl::PointXYZ>(votes_cloud, handler_votes, "votes_cloud");
       vis.setPointCloudRenderingProperties(
-          pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 14, "votes_cloud");
+          pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+          14,
+          "votes_cloud");
       vis.setPointCloudRenderingProperties(
-          pcl::visualization::PCL_VISUALIZER_OPACITY, 0.5, "votes_cloud");
+          pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+          0.5,
+          "votes_cloud");
       vis.setPointCloudRenderingProperties(
-          pcl::visualization::PCL_VISUALIZER_OPACITY, 0.75, "votes_cloud");
+          pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+          0.75,
+          "votes_cloud");
     }
 
     std::vector<Eigen::VectorXf> heads;

diff --git a/apps/src/ni_agast.cpp b/apps/src/ni_agast.cpp
@@ -306,9 +306,13 @@ class AGASTDemo {
           if (!cloud_viewer_.updatePointCloud(keypoints3d, blue, "keypoints"))
             cloud_viewer_.addPointCloud(keypoints3d, blue, "keypoints");
           cloud_viewer_.setPointCloudRenderingProperties(
-              visualization::PCL_VISUALIZER_POINT_SIZE, 20, "keypoints");
+              visualization::RenderingProperties::PCL_VISUALIZER_FONT_SIZE,
+              20,
+              "keypoints");
           cloud_viewer_.setPointCloudRenderingProperties(
-              visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
+              visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+              0.5,
+              "keypoints");
         }
       }
 

diff --git a/apps/src/ni_brisk.cpp b/apps/src/ni_brisk.cpp
@@ -253,9 +253,13 @@ class BRISKDemo {
         if (!cloud_viewer_.updatePointCloud(keypoints3d, blue, "keypoints"))
           cloud_viewer_.addPointCloud(keypoints3d, blue, "keypoints");
         cloud_viewer_.setPointCloudRenderingProperties(
-            visualization::PCL_VISUALIZER_POINT_SIZE, 10, "keypoints");
+            visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+            10,
+            "keypoints");
         cloud_viewer_.setPointCloudRenderingProperties(
-            visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
+            visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+            0.5,
+            "keypoints");
       }
 
       cloud_viewer_.spinOnce();

diff --git a/apps/src/ni_linemod.cpp b/apps/src/ni_linemod.cpp
@@ -440,7 +440,7 @@ class NILinemod {
     // Else, draw it on screen
     // cloud_viewer_.addPolygon (region, 1.0, 0.0, 0.0, "region");
     // cloud_viewer_.setShapeRenderingProperties
-    // (visualization::PCL_VISUALIZER_LINE_WIDTH, 10, "region");
+    // (visualization::RenderingProperties::PCL_VISUALIZER_LINE_WIDTH, 10, "region");
 
     PlanarRegion<PointT> refined_region;
     pcl::approximatePolygon(region, refined_region, 0.01, false, true);
@@ -449,7 +449,9 @@ class NILinemod {
              static_cast<std::size_t>(refined_region.getContour().size()));
     cloud_viewer_.addPolygon(refined_region, 0.0, 0.0, 1.0, "refined_region");
     cloud_viewer_.setShapeRenderingProperties(
-        visualization::PCL_VISUALIZER_LINE_WIDTH, 10, "refined_region");
+        visualization::RenderingProperties::PCL_VISUALIZER_LINE_WIDTH,
+        10,
+        "refined_region");
 
     // Draw in image space
     image_viewer_.addPlanarPolygon(
@@ -485,7 +487,7 @@ class NILinemod {
                           0.0,
                           cube_name);
     cloud_viewer_.setShapeRenderingProperties(
-        visualization::PCL_VISUALIZER_LINE_WIDTH, 10, cube_name);
+        visualization::RenderingProperties::PCL_VISUALIZER_LINE_WIDTH, 10, cube_name);
 
     // ...and 2D
     image_viewer_.addRectangle(search_.getInputCloud(), *object);

diff --git a/apps/src/ni_susan.cpp b/apps/src/ni_susan.cpp
@@ -160,9 +160,13 @@ class SUSANDemo {
           if (!cloud_viewer_.updatePointCloud(keypoints, blue, "keypoints"))
             cloud_viewer_.addPointCloud(keypoints, blue, "keypoints");
           cloud_viewer_.setPointCloudRenderingProperties(
-              visualization::PCL_VISUALIZER_POINT_SIZE, 20, "keypoints");
+              visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+              20,
+              "keypoints");
           cloud_viewer_.setPointCloudRenderingProperties(
-              visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
+              visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+              0.5,
+              "keypoints");
         }
       }
 

diff --git a/apps/src/ni_trajkovic.cpp b/apps/src/ni_trajkovic.cpp
@@ -187,9 +187,13 @@ class TrajkovicDemo {
           if (!cloud_viewer_.updatePointCloud(keypoints, blue, "keypoints"))
             cloud_viewer_.addPointCloud(keypoints, blue, "keypoints");
           cloud_viewer_.setPointCloudRenderingProperties(
-              visualization::PCL_VISUALIZER_POINT_SIZE, 10, "keypoints");
+              visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+              10,
+              "keypoints");
           cloud_viewer_.setPointCloudRenderingProperties(
-              visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
+              visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+              0.5,
+              "keypoints");
         }
       }
 

diff --git a/apps/src/openni_organized_edge_detection.cpp b/apps/src/openni_organized_edge_detection.cpp
@@ -61,7 +61,7 @@ class OpenNIOrganizedEdgeDetection {
     viewer->setSize(640, 480);
     viewer->addPointCloud<PointT>(cloud, "cloud");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
     viewer->addCoordinateSystem(0.2f, "global");
     viewer->initCameraParameters();
     viewer->registerKeyboardCallback(&OpenNIOrganizedEdgeDetection::keyboard_callback,
@@ -71,43 +71,63 @@ class OpenNIOrganizedEdgeDetection {
     const int point_size = 2;
     viewer->addPointCloud<PointT>(cloud, "nan boundary edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
         point_size,
         "nan boundary edges");
-    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,
-                                             0.0f,
-                                             0.0f,
-                                             1.0f,
-                                             "nan boundary edges");
+    viewer->setPointCloudRenderingProperties(
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_IMMEDIATE_RENDERING,
+        0.0f,
+        0.0f,
+        1.0f,
+        "nan boundary edges");
 
     viewer->addPointCloud<PointT>(cloud, "occluding edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, "occluding edges");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+        point_size,
+        "occluding edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_COLOR, 0.0f, 1.0f, 0.0f, "occluding edges");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
+        0.0f,
+        1.0f,
+        0.0f,
+        "occluding edges");
 
     viewer->addPointCloud<PointT>(cloud, "occluded edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, "occluded edges");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+        point_size,
+        "occluded edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_COLOR, 1.0f, 0.0f, 0.0f, "occluded edges");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
+        1.0f,
+        0.0f,
+        0.0f,
+        "occluded edges");
 
     viewer->addPointCloud<PointT>(cloud, "high curvature edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
         point_size,
         "high curvature edges");
-    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,
-                                             1.0f,
-                                             1.0f,
-                                             0.0f,
-                                             "high curvature edges");
+    viewer->setPointCloudRenderingProperties(
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
+        1.0f,
+        1.0f,
+        0.0f,
+        "high curvature edges");
 
     viewer->addPointCloud<PointT>(cloud, "rgb edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, "rgb edges");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+        point_size,
+        "rgb edges");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_COLOR, 0.0f, 1.0f, 1.0f, "rgb edges");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
+        0.0f,
+        1.0f,
+        1.0f,
+        "rgb edges");
 
     return viewer;
   }
@@ -120,43 +140,53 @@ class OpenNIOrganizedEdgeDetection {
       switch (event.getKeyCode()) {
       case '1':
         viewer->getPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "nan boundary edges");
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+            opacity,
+            "nan boundary edges");
         viewer->setPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY,
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
             1.0 - opacity,
             "nan boundary edges");
         break;
       case '2':
         viewer->getPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluding edges");
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+            opacity,
+            "occluding edges");
         viewer->setPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY,
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
             1.0 - opacity,
             "occluding edges");
         break;
       case '3':
         viewer->getPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluded edges");
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+            opacity,
+            "occluded edges");
         viewer->setPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY,
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
             1.0 - opacity,
             "occluded edges");
         break;
       case '4':
         viewer->getPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY,
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
             opacity,
             "high curvature edges");
         viewer->setPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY,
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
             1.0 - opacity,
             "high curvature edges");
         break;
       case '5':
         viewer->getPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "rgb edges");
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+            opacity,
+            "rgb edges");
         viewer->setPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0 - opacity, "rgb edges");
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+            1.0 - opacity,
+            "rgb edges");
         break;
       }
     }

diff --git a/apps/src/openni_organized_multi_plane_segmentation.cpp b/apps/src/openni_organized_multi_plane_segmentation.cpp
@@ -66,9 +66,9 @@ class OpenNIOrganizedMultiPlaneSegmentation {
         cloud, 0, 255, 0);
     viewer->addPointCloud<PointT>(cloud, single_color, "cloud");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
     viewer->addCoordinateSystem(1.0, "global");
     viewer->initCameraParameters();
     return viewer;
@@ -180,7 +180,9 @@ class OpenNIOrganizedMultiPlaneSegmentation {
               contour, red[i], grn[i], blu[i]);
           viewer->addPointCloud(contour, color, name);
           viewer->setPointCloudRenderingProperties(
-              pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 4, name);
+              pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+              4,
+              name);
         }
         prev_models_size = regions.size();
         cloud_mutex.unlock();

diff --git a/apps/src/openni_uniform_sampling.cpp b/apps/src/openni_uniform_sampling.cpp
@@ -110,7 +110,9 @@ class OpenNIUniformSampling {
     if (!viz.updatePointCloud<pcl::PointXYZ>(keypoints_, "keypoints")) {
       viz.addPointCloud<pcl::PointXYZ>(keypoints_, "keypoints");
       viz.setPointCloudRenderingProperties(
-          pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5.0, "keypoints");
+          pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
+          5.0,
+          "keypoints");
       viz.resetCameraViewpoint("keypoints");
     }
   }

diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp
@@ -48,7 +48,7 @@ displayPlanarRegions(
     if (!viewer->updatePointCloud(contour, color, name))
       viewer->addPointCloud(contour, color, name);
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, name);
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, 5, name);
   }
 }
 
@@ -72,7 +72,7 @@ displayEuclideanClusters(const pcl::PointCloud<PointT>::CloudVectorType& cluster
     viewer->setPointCloudRenderingProperties(
         pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, name);
     viewer->setPointCloudRenderingProperties(
-        pcl::visualization::PCL_VISUALIZER_OPACITY, 0.3, name);
+        pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY, 0.3, name);
   }
 }
 
@@ -449,7 +449,9 @@ OrganizedSegmentationDemo::timeoutSlot()
         vis_->addPointCloudNormals<PointT, pcl::Normal>(
             prev_cloud_.makeShared(), prev_normals_.makeShared(), 10, 0.05f, "normals");
         vis_->setPointCloudRenderingProperties(
-            pcl::visualization::PCL_VISUALIZER_OPACITY, 0.5, "normals");
+            pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
+            0.5,
+            "normals");
       }
       else {
         vis_->removePointCloud("normals");