Method addCube

visualization/src/pcl_visualizer.cpp:2280–2309

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bool
pcl::visualization::PCLVisualizer::addCube (const pcl::ModelCoefficients &coefficients,
                                            const std::string &id, int viewport)
{
  // Check to see if this ID entry already exists (has it been already added to the visualizer?)
  auto am_it = shape_actor_map_->find (id);
  if (am_it != shape_actor_map_->end ())
  {
    pcl::console::print_warn (stderr, "[addCube] A shape with id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
    return (false);
  }

  if (coefficients.values.size () != 10)
  {
    PCL_WARN ("[addCube] Coefficients size does not match expected size (expected 10).\n");
    return (false);
  }

  vtkSmartPointer<vtkDataSet> data = createCube (coefficients);

  // Create an Actor
  vtkSmartPointer<vtkLODActor> actor;
  createActorFromVTKDataSet (data, actor);
  actor->GetProperty ()->SetRepresentationToSurface ();
  addActorToRenderer (actor, viewport);

  // Save the pointer/ID pair to the global actor map
  (*shape_actor_map_)[id] = actor;
  return (true);
}

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bool