Merge pull request #1668 from aecins/shape_redner_proprs_lut

Allow changing LUT properties of a shape actor
PointCloudLibrary · Aug 30, 2017 · 546f5ca · 546f5ca
2 parents 8695e83 + f552390
commit 546f5ca
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Showing 2 changed files with 98 additions and 6 deletions.
diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h
@@ -1200,7 +1200,19 @@ namespace pcl
         setShapeRenderingProperties (int property, double value,
                                      const std::string &id, int viewport = 0);
 
-        /** \brief Set the rendering properties of a shape (3x values - e.g., RGB)
+        /** \brief Set the rendering properties of a shape (2x values - e.g., LUT minmax values)
+          * \param[in] property the property type
+          * \param[in] val1 the first value to be set
+          * \param[in] val2 the second value to be set
+          * \param[in] id the shape object id
+          * \param[in] viewport the view port where the shape's properties should be modified (default: all)
+          * \note When using \ref addPolygonMesh you you should use \ref setPointCloudRenderingProperties
+          */
+         bool
+         setShapeRenderingProperties (int property, double val1, double val2,
+                                      const std::string &id, int viewport = 0);
+
+         /** \brief Set the rendering properties of a shape (3x values - e.g., RGB)
           * \param[in] property the property type
           * \param[in] val1 the first value to be set
           * \param[in] val2 the second value to be set

diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
@@ -1616,6 +1616,58 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
   return (true);
 }
 
+/////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
+    int property, double val1, double val2, const std::string &id, int)
+{
+  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
+  ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
+
+  if (am_it == shape_actor_map_->end ())
+  {
+    pcl::console::print_error ("[setShapeRenderingProperties] Could not find any shape with id <%s>!\n", id.c_str ());
+    return (false);
+  }
+  // Get the actor pointer
+  vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
+  if (!actor)
+    return (false);
+
+  switch (property)
+  {
+    case PCL_VISUALIZER_LUT_RANGE:
+    {
+      // Check if the mapper has scalars
+      if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
+        break;
+
+      // Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
+      if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
+        break;
+
+      // Check that range values are correct
+      if (val1 >= val2)
+      {
+        PCL_WARN ("[setShapeRenderingProperties] Range max must be greater than range min!\n");
+        return (false);
+      }
+
+      // Update LUT
+      actor->GetMapper ()->GetLookupTable ()->SetRange (val1, val2);
+      actor->GetMapper()->UseLookupTableScalarRangeOn ();
+      style_->updateLookUpTableDisplay (false);
+      break;
+    }
+    default:
+    {
+      pcl::console::print_error ("[setShapeRenderingProperties] Unknown property (%d) specified!\n", property);
+      return (false);
+    }
+  }
+  return (true);
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////////
 bool
 pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
@@ -1740,17 +1792,45 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
       if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
         break;
 
-      double range[2];
-      actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->GetRange (range);
+      // Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
+      if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
+        break;
+
+      // Get range limits from existing LUT
+      double *range;
+      range = actor->GetMapper ()->GetLookupTable ()->GetRange ();
+
       actor->GetMapper ()->ScalarVisibilityOn ();
       actor->GetMapper ()->SetScalarRange (range[0], range[1]);
-      vtkSmartPointer<vtkLookupTable> table = vtkSmartPointer<vtkLookupTable>::New ();
-      getColormapLUT (static_cast<LookUpTableRepresentationProperties>(static_cast<int>(value)), table);
+      vtkSmartPointer<vtkLookupTable> table;
+      if (!pcl::visualization::getColormapLUT (static_cast<LookUpTableRepresentationProperties>(static_cast<int>(value)), table))
+        break;
       table->SetRange (range[0], range[1]);
       actor->GetMapper ()->SetLookupTable (table);
       style_->updateLookUpTableDisplay (false);
-      break;
     }
+    case PCL_VISUALIZER_LUT_RANGE:
+    {
+      // Check if the mapper has scalars
+      if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
+        break;
+
+      // Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
+      if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
+        break;
+
+      switch (int(value))
+      {
+        case PCL_VISUALIZER_LUT_RANGE_AUTO:
+          double range[2];
+          actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->GetRange (range);
+          actor->GetMapper ()->GetLookupTable ()->SetRange (range[0], range[1]);
+          actor->GetMapper ()->UseLookupTableScalarRangeOn ();
+          style_->updateLookUpTableDisplay (false);
+          break;
+      }
+      break;
+    }    
     default:
     {
       pcl::console::print_error ("[setShapeRenderingProperties] Unknown property (%d) specified!\n", property);