[VISU] Add another method 'getPointCloudRenderingProperties()' to han…

…dle color.
PointCloudLibrary · Dec 11, 2017 · 79f6553 · 79f6553
1 parent abf77ff
commit 79f6553
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diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h
@@ -1179,6 +1179,18 @@ namespace pcl
         getPointCloudRenderingProperties (int property, double &value,
                                           const std::string &id = "cloud");
 
+       /** \brief Get the rendering properties of a PointCloud
+         * \param[in] property the property type
+         * \param[out] val1 the resultant property value
+         * \param[out] val2 the resultant property value
+         * \param[out] val3 the resultant property value
+         * \param[in] id the point cloud object id (default: cloud)
+         * \note The list of properties can be found in \ref pcl::visualization::LookUpTableRepresentationProperties.
+         */
+        bool
+        getPointCloudRenderingProperties (int property, double &val1, double &val2, double &val3,
+                                          const std::string &id = "cloud");
+
         /** \brief Set whether the point cloud is selected or not 
          *  \param[in] selected whether the cloud is selected or not (true = selected)
          *  \param[in] id the point cloud object id (default: cloud)

diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
@@ -1503,6 +1503,40 @@ pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties (int propert
   }
   return (true);
 }
+/////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties (int property, double &val1, double &val2, double &val3, const std::string &id)
+{
+  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
+  CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
+
+  if (am_it == cloud_actor_map_->end ())
+    return (false);
+  // Get the actor pointer
+  vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
+  if (!actor)
+    return (false);
+
+  switch (property)
+  {
+    case PCL_VISUALIZER_COLOR:
+    {
+      double rgb[3];
+      actor->GetProperty ()->GetColor (rgb);
+      actor->Modified ();
+      val1 = rgb[0];
+      val2 = rgb[1];
+      val3 = rgb[2];
+      break;
+    }
+    default:
+    {
+      pcl::console::print_error ("[getPointCloudRenderingProperties] Unknown property (%d) specified!\n", property);
+      return (false);
+    }
+  }
+  return (true);
+}
 
 /////////////////////////////////////////////////////////////////////////////////////////////
 bool