/////////////////////////////////////////////////////////////////////////////////////////
| 4209 | |
| 4210 | ////////////////////////////////////////////////////////////////////////////////////////////// |
| 4211 | bool |
| 4212 | pcl::visualization::PCLVisualizer::addPointCloud ( |
| 4213 | const pcl::PCLPointCloud2::ConstPtr &, |
| 4214 | const GeometryHandlerConstPtr &geometry_handler, |
| 4215 | const ColorHandlerConstPtr &color_handler, |
| 4216 | const Eigen::Vector4f& sensor_origin, |
| 4217 | const Eigen::Quaternion<float>& sensor_orientation, |
| 4218 | const std::string &id, int viewport) |
| 4219 | { |
| 4220 | // Check to see if this entry already exists (has it been already added to the visualizer?) |
| 4221 | auto am_it = cloud_actor_map_->find (id); |
| 4222 | if (am_it != cloud_actor_map_->end ()) |
| 4223 | { |
| 4224 | // Here we're just pushing the handlers onto the queue. If needed, something fancier could |
| 4225 | // be done such as checking if a specific handler already exists, etc. |
| 4226 | am_it->second.geometry_handlers.push_back (geometry_handler); |
| 4227 | am_it->second.color_handlers.push_back (color_handler); |
| 4228 | return (true); |
| 4229 | } |
| 4230 | return (fromHandlersToScreen (geometry_handler, color_handler, id, viewport, sensor_origin, sensor_orientation)); |
| 4231 | } |
| 4232 | |
| 4233 | ////////////////////////////////////////////////////////////////////////////////////////////// |
| 4234 | bool |