Add remove text3d

visualization/include/pcl/visualization/impl/pcl_visualizer.hpp

@@ -669,10 +669,26 @@ pcl::visualization::PCLVisualizer::addText3D (
   else
     tid = id;
 
-  if (contains (tid))
+  if (viewport < 0)
+    return false;
+
+  // check all or an individual viewport for a similar id
+  rens_->InitTraversal ();
+  rens_->GetNextItem (); //discard first because it's not a renderer for the viewps
+  for (size_t i = std::max (viewport, 1); rens_->GetNextItem () != NULL; ++i)
   {
-    PCL_WARN ("[addText3D] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
-    return (false);
+    const std::string uid = tid + std::string (i, '*');
+    if (contains (uid))
+    {
+      PCL_ERROR ( "[addText3D] The id <%s> already exists in viewport [%d]! "
+                  "Please choose a different id and retry.\n",
+                  tid.c_str (),
+                  i);
+      return false;
+    }
+
+    if (viewport > 0)
+      break;
   }
 
   vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New ();
@@ -684,8 +700,8 @@ pcl::visualization::PCLVisualizer::addText3D (
 
   // Since each follower may follow a different camera, we need different followers
   rens_->InitTraversal ();
-  vtkRenderer* renderer = NULL;
-  int i = 0;
+  vtkRenderer* renderer = rens_->GetNextItem (); //discard first because it's not a renderer for the viewps
+  int i = 1;
   while ((renderer = rens_->GetNextItem ()) != NULL)
   {
     // Should we add the actor to all renderers or just to i-nth renderer?
@@ -703,10 +719,8 @@ pcl::visualization::PCLVisualizer::addText3D (
 
       // Save the pointer/ID pair to the global actor map. If we are saving multiple vtkFollowers
       // for multiple viewport
-      std::string alternate_tid = tid;
-      alternate_tid.append(i, '*');
-
-      (*shape_actor_map_)[(viewport == 0) ? tid : alternate_tid] = textActor;
+      const std::string uid = tid + std::string (i, '*');
+      (*shape_actor_map_)[uid] = textActor;
     }
 
     ++i;
@@ -734,10 +748,26 @@ pcl::visualization::PCLVisualizer::addText3D (
   else
     tid = id;
 
-  if (contains (tid))
+  if (viewport < 0)
+    return false;
+
+  // check all or an individual viewport for a similar id
+  rens_->InitTraversal ();
+  rens_->GetNextItem (); //discard first because it's not a renderer for the viewps
+  for (size_t i = std::max (viewport, 1); rens_->GetNextItem () != NULL; ++i)
   {
-    PCL_WARN ("[addText3D] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
-    return (false);
+    const std::string uid = tid + std::string (i, '*');
+    if (contains (uid))
+    {
+      PCL_ERROR ( "[addText3D] The id <%s> already exists in viewport [%d]! "
+                  "Please choose a different id and retry.\n",
+                  tid.c_str (),
+                  i);
+      return false;
+    }
+
+    if (viewport > 0)
+      break;
   }
 
   vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New ();
@@ -754,10 +784,21 @@ pcl::visualization::PCLVisualizer::addText3D (
   textActor->GetProperty ()->SetColor (r, g, b);
   textActor->SetOrientation (orientation);
 
-  addActorToRenderer (textActor, viewport);
-
   // Save the pointer/ID pair to the global actor map. If we are saving multiple vtkFollowers
-  (*shape_actor_map_)[tid] = textActor;
+  rens_->InitTraversal ();
+  rens_->GetNextItem (); //discard first because it's not a renderer for the viewps
+  int i = 1;
+  for ( vtkRenderer* renderer = rens_->GetNextItem ();
+        renderer != NULL;
+        renderer = rens_->GetNextItem (), ++i)
+  {
+    if (viewport == 0 || viewport == i)
+    {
+      renderer->AddActor (textActor);
+      const std::string uid = tid + std::string (i, '*');
+      (*shape_actor_map_)[uid] = textActor;
+    }
+  }
 
   return (true);
 }

visualization/src/pcl_visualizer.cpp

@@ -915,23 +915,43 @@ pcl::visualization::PCLVisualizer::removeShape (const std::string &id, int viewp
 bool
 pcl::visualization::PCLVisualizer::removeText3D (const std::string &id, int viewport)
 {
-  // Check to see if the given ID entry exists
-  ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
+  if (viewport < 0)
+    return false;
 
-  if (am_it == shape_actor_map_->end ())
-  {
-    //pcl::console::print_warn (stderr, "[removeSape] Could not find any shape with id <%s>!\n", id.c_str ());
-    return (false);
-  }
+  bool success = true;
 
-  // Remove it from all renderers
-  if (removeActorFromRenderer (am_it->second, viewport))
+  // check all or an individual viewport for a similar id
+  rens_->InitTraversal ();
+  rens_->GetNextItem (); //discard first because it's not a renderer for the viewps
+  for (size_t i = std::max (viewport, 1); rens_->GetNextItem () != NULL; ++i)
   {
-    // Remove the pointer/ID pair to the global actor map
-    shape_actor_map_->erase (am_it);
-    return (true);
+    const std::string uid = id + std::string (i, '*');
+    ShapeActorMap::iterator am_it = shape_actor_map_->find (uid);
+
+    // was it found
+    if (am_it == shape_actor_map_->end ())
+    {
+      if (viewport > 0)
+        return (false);
+
+      continue;
+    }
+
+    // Remove it from all renderers
+    if (removeActorFromRenderer (am_it->second, i))
+    {
+      // Remove the pointer/ID pair to the global actor map
+      shape_actor_map_->erase (am_it);
+      if (viewport > 0)
+        return (true);
+
+      success &= true;
+    }
+    else
+      success = false;
   }
-  return (false);
+
+  return success;
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////

visualization/test/CMakeLists.txt

@@ -9,3 +9,5 @@
 #add_executable(demo_shapes test_shapes.cpp)
 #target_link_libraries(demo_shapes pcl_common pcl_io pcl_kdtree pcl_visualization)
 
+#add_executable(demo_shapes_multiport test_shapes_multiport.cpp)
+#target_link_libraries(demo_shapes_multiport pcl_common pcl_io pcl_kdtree pcl_visualization)

visualization/test/test_shapes_multiport.cpp

@@ -0,0 +1,56 @@
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/io/pcd_io.h>
+
+using pcl::PointCloud;
+using pcl::PointXYZ;
+
+int 
+main (int , char **)
+{
+  srand (unsigned (time (0)));
+
+  PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+
+  cloud->points.resize (5);
+  for (size_t i = 0; i < cloud->points.size (); ++i)
+  {
+    cloud->points[i].x = float (i); 
+    cloud->points[i].y = float (i / 2);
+    cloud->points[i].z = 0.0f;
+  }
+
+  // Start the visualizer
+  pcl::visualization::PCLVisualizer p ("test_shapes");
+  int leftPort(0);
+  int rightPort(0);
+  p.createViewPort(0, 0, 0.5, 1, leftPort);
+  p.createViewPort(0.5, 0, 1, 1, rightPort);
+  p.setBackgroundColor (1, 1, 1);
+  p.addCoordinateSystem (1.0, "first");
+
+  //p.addPolygon (cloud, "polygon");
+  p.addPolygon<PointXYZ> (cloud, 1.0, 0.0, 0.0, "polygon", leftPort);
+  p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 10, "polygon", leftPort);
+
+  p.addLine<PointXYZ, PointXYZ> (cloud->points[0], cloud->points[1], 0.0, 1.0, 0.0, "line", leftPort);
+  p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 50, "line", leftPort);
+
+  p.addSphere<PointXYZ> (cloud->points[0], 1, 0.0, 1.0, 0.0, "sphere", leftPort);
+  p.setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 5, "sphere", leftPort);
+//  p.removePolygon ("poly");
+
+  p.addText ("text", 200, 200, 1.0, 0, 0, "text", leftPort);
+
+  p.addText3D ("text3D", cloud->points[0], 1.0, 1.0, 0.0, 0.0, "", rightPort);
+  p.spin ();
+  p.removeCoordinateSystem ("first", 0);
+  p.spin ();
+  p.addCoordinateSystem (1.0, 5, 3, 1, "second");
+  p.spin ();
+  p.removeCoordinateSystem ("second", 0);
+  p.spin ();
+  p.addText3D ("text3D_to_remove", cloud->points[1], 1.0, 0.0, 1.0, 0.0, "", rightPort);
+  p.spin ();
+  p.removeText3D ("text3D_to_remove", rightPort);
+  p.spin ();
+}