Method updateColorHandlerIndex

visualization/src/pcl_visualizer.cpp:2945–2983

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bool
pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &id, int index)
{
  auto am_it = cloud_actor_map_->find (id);
  if (am_it == cloud_actor_map_->end ())
  {
    pcl::console::print_warn (stderr, "[updateColorHandlerIndex] PointCloud with id <%s> doesn't exist!\n", id.c_str ());
    return (false);
  }

  std::size_t color_handler_size = am_it->second.color_handlers.size ();
  if (!(static_cast<std::size_t>(index) < color_handler_size))
  {
    pcl::console::print_warn (stderr, "[updateColorHandlerIndex] Invalid index <%d> given! Index must be less than %d.\n", index, static_cast<int>(color_handler_size));
    return (false);
  }
  // Get the handler
  PointCloudColorHandler<pcl::PCLPointCloud2>::ConstPtr color_handler = am_it->second.color_handlers[index];

  auto scalars = color_handler->getColor ();
  double minmax[2];
  scalars->GetRange (minmax);
  // Update the data
  auto *data = dynamic_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
  data->GetPointData ()->SetScalars (scalars);
  // Modify the mapper
  auto* mapper = dynamic_cast<vtkDataSetMapper*>(am_it->second.actor->GetMapper ());
  mapper->SetScalarRange (minmax);
  mapper->SetScalarModeToUsePointData ();
  mapper->SetInputData (data);
  // Modify the actor
  am_it->second.actor->SetMapper (mapper);
  am_it->second.actor->Modified ();
  am_it->second.color_handler_index_ = index;

  //style_->setCloudActorMap (cloud_actor_map_);

  return (true);
}