Merge pull request #401 from nizar-sallem/several_coordinate_system

Add: ability to add/remove several coordinate systems

apps/src/face_detection/filesystem_face_detection.cpp

@@ -80,7 +80,7 @@ void run(pcl::RFFaceDetectorTrainer & fdrf, typename pcl::PointCloud<PointInT>::
     vis.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 14, "votes_cloud");
   }
 
-  vis.addCoordinateSystem (0.1);
+  vis.addCoordinateSystem (0.1, "global");
 
   std::vector<Eigen::VectorXf> heads;
   fdrf.getDetectedFaces (heads);

apps/src/face_detection/openni_face_detection.cpp

@@ -18,7 +18,7 @@ void run(pcl::RFFaceDetectorTrainer & fdrf, bool heat_map = false, bool show_vot
   OpenNIFrameSource::PointCloudPtr scene_vis;
 
   pcl::visualization::PCLVisualizer vis ("Face dection");
-  vis.addCoordinateSystem (0.1);
+  vis.addCoordinateSystem (0.1, "global");
 
   //keyboard callback to stop getting frames and finalize application
   boost::function<void(const pcl::visualization::KeyboardEvent&)> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, &camera,

apps/src/openni_organized_edge_detection.cpp

@@ -66,7 +66,7 @@ class OpenNIOrganizedEdgeDetection
       viewer->setSize (640, 480);
       viewer->addPointCloud<PointT> (cloud, "cloud");
       viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
-      viewer->addCoordinateSystem (0.2f);
+      viewer->addCoordinateSystem (0.2f, "global");
       viewer->initCameraParameters ();
       viewer->registerKeyboardCallback (&OpenNIOrganizedEdgeDetection::keyboard_callback, *this);
       viewer->resetCameraViewpoint ("cloud");

apps/src/openni_organized_multi_plane_segmentation.cpp

@@ -73,7 +73,7 @@ class OpenNIOrganizedMultiPlaneSegmentation
       viewer->addPointCloud<PointT> (cloud, single_color, "cloud");
       viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
       viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
-      viewer->addCoordinateSystem (1.0);
+      viewer->addCoordinateSystem (1.0, "global");
       viewer->initCameraParameters ();
       return (viewer);
     }

apps/src/pcd_organized_edge_detection.cpp

@@ -173,7 +173,7 @@ compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output
 
   // Display edges in PCLVisualizer
   viewer.setSize (640, 480);
-  viewer.addCoordinateSystem (0.2f);
+  viewer.addCoordinateSystem (0.2f, "global");
   viewer.addPointCloud (cloud, "original point cloud");
   viewer.registerKeyboardCallback(&keyboard_callback);
 

apps/src/pcd_organized_multi_plane_segmentation.cpp

@@ -68,7 +68,7 @@ class PCDOrganizedMultiPlaneSegmentation
       viewer.setBackgroundColor (0, 0, 0);
       //viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
       //viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
-      viewer.addCoordinateSystem (1.0);
+      viewer.addCoordinateSystem (1.0, "global");
       viewer.initCameraParameters ();
       viewer.registerKeyboardCallback(&PCDOrganizedMultiPlaneSegmentation::keyboard_callback, *this, 0);
     }

apps/src/pcd_select_object_plane.cpp

@@ -566,7 +566,7 @@ class ObjectSelection
 
       cloud_viewer_->addPointCloud (cloud_, "scene");
       cloud_viewer_->resetCameraViewpoint ("scene");
-      cloud_viewer_->addCoordinateSystem (0.1, 0, 0, 0);
+      cloud_viewer_->addCoordinateSystem (0.1, 0, 0, 0, "global");
     }
 
     /////////////////////////////////////////////////////////////////////////

apps/src/stereo_ground_segmentation.cpp

@@ -123,7 +123,7 @@ class HRCSSegmentation
 
       // Set up a 3D viewer
       viewer->setBackgroundColor (0, 0, 0);
-      viewer->addCoordinateSystem (1.0);
+      viewer->addCoordinateSystem (1.0, "global");
       viewer->initCameraParameters ();
       viewer->registerKeyboardCallback (&HRCSSegmentation::keyboardCallback, *this, 0);
 

doc/tutorials/content/sources/narf_feature_extraction/narf_feature_extraction.cpp

@@ -149,7 +149,7 @@ main (int argc, char** argv)
   pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
   viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
   viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
-  //viewer.addCoordinateSystem (1.0f);
+  //viewer.addCoordinateSystem (1.0f, "global");
   //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
   //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
   viewer.initCameraParameters ();

doc/tutorials/content/sources/narf_keypoint_extraction/narf_keypoint_extraction.cpp

@@ -143,7 +143,7 @@ main (int argc, char** argv)
   pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
   viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
   viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
-  //viewer.addCoordinateSystem (1.0f);
+  //viewer.addCoordinateSystem (1.0f, "global");
   //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
   //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
   viewer.initCameraParameters ();

doc/tutorials/content/sources/normal_distributions_transform/normal_distributions_transform.cpp

@@ -95,7 +95,7 @@ main (int argc, char** argv)
                                                   1, "output cloud");
 
   // Starting visualizer
-  viewer_final->addCoordinateSystem (1.0);
+  viewer_final->addCoordinateSystem (1.0, "global");
   viewer_final->initCameraParameters ();
 
   // Wait until visualizer window is closed.

doc/tutorials/content/sources/openni_narf_keypoint_extraction/openni_narf_keypoint_extraction.cpp

@@ -87,7 +87,7 @@ int main (int argc, char** argv)
   pcl::visualization::RangeImageVisualizer range_image_widget ("Range Image");
 
   pcl::visualization::PCLVisualizer viewer ("3D Viewer");
-  viewer.addCoordinateSystem (1.0f);
+  viewer.addCoordinateSystem (1.0f, "global");
   viewer.setBackgroundColor (1, 1, 1);
 
   viewer.initCameraParameters ();

doc/tutorials/content/sources/openni_range_image_visualization/openni_range_image_visualization.cpp

@@ -63,7 +63,7 @@ int main (int argc, char** argv)
   pcl::visualization::RangeImageVisualizer range_image_widget ("Range Image");
 
   pcl::visualization::PCLVisualizer viewer ("3D Viewer");
-  viewer.addCoordinateSystem (1.0f);
+  viewer.addCoordinateSystem (1.0f, "global");
   viewer.setBackgroundColor (1, 1, 1);
 
   // Set the viewing pose so that the openni cloud is visible

doc/tutorials/content/sources/pcl_visualizer/pcl_visualizer_demo.cpp

@@ -40,7 +40,7 @@ boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis (pcl::PointCloud<
   viewer->setBackgroundColor (0, 0, 0);
   viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
-  viewer->addCoordinateSystem (1.0);
+  viewer->addCoordinateSystem (1.0, "global");
   viewer->initCameraParameters ();
   return (viewer);
 }
@@ -56,7 +56,7 @@ boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis (pcl::PointCloud<pcl
   pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
   viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
-  viewer->addCoordinateSystem (1.0);
+  viewer->addCoordinateSystem (1.0, "global");
   viewer->initCameraParameters ();
   return (viewer);
 }
@@ -72,7 +72,7 @@ boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis (pcl::Point
   pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
   viewer->addPointCloud<pcl::PointXYZ> (cloud, single_color, "sample cloud");
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
-  viewer->addCoordinateSystem (1.0);
+  viewer->addCoordinateSystem (1.0, "global");
   viewer->initCameraParameters ();
   return (viewer);
 }
@@ -90,7 +90,7 @@ boost::shared_ptr<pcl::visualization::PCLVisualizer> normalsVis (
   viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
   viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals, 10, 0.05, "normals");
-  viewer->addCoordinateSystem (1.0);
+  viewer->addCoordinateSystem (1.0, "global");
   viewer->initCameraParameters ();
   return (viewer);
 }
@@ -106,7 +106,7 @@ boost::shared_ptr<pcl::visualization::PCLVisualizer> shapesVis (pcl::PointCloud<
   pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
   viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
-  viewer->addCoordinateSystem (1.0);
+  viewer->addCoordinateSystem (1.0, "global");
   viewer->initCameraParameters ();
 
   //------------------------------------
@@ -164,7 +164,7 @@ boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis (
 
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud1");
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2");
-  viewer->addCoordinateSystem (1.0);
+  viewer->addCoordinateSystem (1.0, "global");
 
   viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals1, 10, 0.05, "normals1", v1);
   viewer->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud, normals2, 10, 0.05, "normals2", v2);
@@ -211,7 +211,7 @@ boost::shared_ptr<pcl::visualization::PCLVisualizer> interactionCustomizationVis
 {
   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
   viewer->setBackgroundColor (0, 0, 0);
-  viewer->addCoordinateSystem (1.0);
+  viewer->addCoordinateSystem (1.0, "global");
 
   viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer);
   viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer);

doc/tutorials/content/sources/random_sample_consensus/random_sample_consensus.cpp

@@ -19,7 +19,7 @@ simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
   viewer->setBackgroundColor (0, 0, 0);
   viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
   viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
-  //viewer->addCoordinateSystem (1.0);
+  //viewer->addCoordinateSystem (1.0, "global");
   viewer->initCameraParameters ();
   return (viewer);
 }

doc/tutorials/content/sources/range_image_border_extraction/range_image_border_extraction.cpp

@@ -123,7 +123,7 @@ main (int argc, char** argv)
   // --------------------------------------------
   pcl::visualization::PCLVisualizer viewer ("3D Viewer");
   viewer.setBackgroundColor (1, 1, 1);
-  viewer.addCoordinateSystem (1.0f);
+  viewer.addCoordinateSystem (1.0f, "global");
   pcl::visualization::PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 0, 0, 0);
   viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
   //PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 150, 150, 150);

doc/tutorials/content/sources/range_image_visualization/range_image_visualization.cpp

@@ -134,7 +134,7 @@ main (int argc, char** argv)
   pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
   viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
   viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
-  //viewer.addCoordinateSystem (1.0f);
+  //viewer.addCoordinateSystem (1.0f, "global");
   //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
   //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
   viewer.initCameraParameters ();

doc/tutorials/content/sources/vfh_recognition/nearest_neighbors.cpp

@@ -267,7 +267,7 @@ main (int argc, char** argv)
     p.addText (cloud_name, 20, 10, cloud_name, viewport);
   }
   // Add coordianate systems to all viewports
-  p.addCoordinateSystem (0.1, 0);
+  p.addCoordinateSystem (0.1, "global", 0);
 
   p.spin ();
   return (0);

tools/obj_rec_ransac_hash_table.cpp

@@ -215,7 +215,7 @@ visualize (const ModelLibrary::HashTable& hash_table)
     }
   }
 
-  vis.addCoordinateSystem(1.5);
+  vis.addCoordinateSystem(1.5, "global");
   vis.resetCamera ();
 
   // Enter the main loop

visualization/include/pcl/visualization/common/actor_map.h

@@ -102,7 +102,8 @@ namespace pcl
     typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
     typedef boost::shared_ptr<ShapeActorMap> ShapeActorMapPtr;
 
-    typedef std::map<int, vtkSmartPointer<vtkProp> > CoordinateActorMap;
+    typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > CoordinateActorMap;
+    typedef boost::shared_ptr<CoordinateActorMap> CoordinateActorMapPtr;
   }
 }
 

visualization/include/pcl/visualization/impl/registration_visualizer.hpp

@@ -100,7 +100,7 @@ pcl::RegistrationVisualizer<PointSource, PointTarget>::runDisplay ()
   size_t  correspondeces_old_size = 0;
 
   // Add coordinate system to both ports
-  viewer_->addCoordinateSystem (1.0);
+  viewer_->addCoordinateSystem (1.0, "global");
 
   // The root name of correspondence lines
   std::string line_root_ = "line";

visualization/include/pcl/visualization/pcl_visualizer.h

@@ -278,23 +278,55 @@ namespace pcl
           * \param[in] scale the scale of the axes (default: 1)
           * \param[in] viewport the view port where the 3D axes should be added (default: all)
           */
+        PCL_DEPRECATED (void addCoordinateSystem (double scale, int viewport = 0),
+        "addCoordinateSystem (scale, viewport) is deprecated, please use function "
+        "addCoordinateSystem (scale, id, viewport) with id a unique string identifier.");
+
+        /** \brief Adds 3D axes describing a coordinate system to screen at 0,0,0.
+          * \param[in] scale the scale of the axes (default: 1)
+          * \param[in] id the coordinate system object id (default: reference)
+          * \param[in] viewport the view port where the 3D axes should be added (default: all)
+          */
         void
-        addCoordinateSystem (double scale = 1.0, int viewport = 0);
+        addCoordinateSystem (double scale = 1.0, const std::string& id = "reference", int viewport = 0);
+
+        /** \brief Adds 3D axes describing a coordinate system to screen at x, y, z
+          * \param[in] scale the scale of the axes (default: 1)
+          * \param[in] x the X position of the axes
+          * \param[in] y the Y position of the axes
+          * \param[in] z the Z position of the axes
+          * \param[in] viewport the view port where the 3D axes should be added (default: all)
+          */
+        PCL_DEPRECATED (void addCoordinateSystem (double scale, float x, float y, float z, int viewport = 0),
+        "addCoordinateSystem (scale, x, y, z, viewport) is deprecated, please use function "
+        "addCoordinateSystem (scale, x, y, z, id, viewport) with id a unique string identifier.");
 
         /** \brief Adds 3D axes describing a coordinate system to screen at x, y, z
           * \param[in] scale the scale of the axes (default: 1)
           * \param[in] x the X position of the axes
           * \param[in] y the Y position of the axes
           * \param[in] z the Z position of the axes
+          * \param[in] id the coordinate system object id (default: reference)
           * \param[in] viewport the view port where the 3D axes should be added (default: all)
           */
         void
-        addCoordinateSystem (double scale, float x, float y, float z, int viewport = 0);
+        addCoordinateSystem (double scale, float x, float y, float z, const std::string &id = "reference", int viewport = 0);
+
+         /** \brief Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw
+           *
+           * \param[in] scale the scale of the axes (default: 1)
+           * \param[in] t transformation matrix
+           * \param[in] viewport the view port where the 3D axes should be added (default: all)
+           */
+        PCL_DEPRECATED (void addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport = 0),
+        "addCoordinateSystem (scale, t, viewport) is deprecated, please use function "
+        "addCoordinateSystem (scale, t, id, viewport) with id a unique string identifier.");
 
          /** \brief Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw
            *
            * \param[in] scale the scale of the axes (default: 1)
            * \param[in] t transformation matrix
+           * \param[in] id the coordinate system object id (default: reference)
            * \param[in] viewport the view port where the 3D axes should be added (default: all)
            *
            * RPY Angles
@@ -323,13 +355,21 @@ namespace pcl
            *         y
            */
         void
-        addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport = 0);
+        addCoordinateSystem (double scale, const Eigen::Affine3f& t, const std::string &id = "reference", int viewport = 0);
+
+        /** \brief Removes a previously added 3D axes (coordinate system)
+          * \param[in] viewport view port where the 3D axes should be removed from (default: all)
+          */
+        PCL_DEPRECATED (bool removeCoordinateSystem (int viewport = 0),
+        "removeCoordinateSystem (viewport) is deprecated, please use function "
+        "addCoordinateSystem (id, viewport) with id a unique string identifier.");
 
         /** \brief Removes a previously added 3D axes (coordinate system)
+          * \param[in] id the coordinate system object id (default: reference)
           * \param[in] viewport view port where the 3D axes should be removed from (default: all)
           */
         bool
-        removeCoordinateSystem (int viewport = 0);
+        removeCoordinateSystem (const std::string &id = "reference", int viewport = 0);
 
         /** \brief Removes a Point Cloud from screen, based on a given ID.
           * \param[in] id the point cloud object id (i.e., given on \a addPointCloud)
@@ -1769,7 +1809,7 @@ namespace pcl
         ShapeActorMapPtr shape_actor_map_;
 
         /** \brief Internal list with actor pointers and viewpoint for coordinates. */
-        CoordinateActorMap coordinate_actor_map_;
+        CoordinateActorMapPtr coordinate_actor_map_;
 
         /** \brief Internal pointer to widget which contains a set of axes */
         vtkSmartPointer<vtkOrientationMarkerWidget> axes_widget_;

visualization/src/cloud_viewer.cpp

@@ -180,7 +180,7 @@ struct pcl::visualization::CloudViewer::CloudViewer_impl
     viewer_ = boost::shared_ptr<PCLVisualizer>(new PCLVisualizer (window_name_, true));
 #endif
     viewer_->setBackgroundColor (0.1, 0.1, 0.1);
-    viewer_->addCoordinateSystem (0.1);
+    viewer_->addCoordinateSystem (0.1, "global");
 
     while (!quit_)
     {