Changed labeled color handler to use modulo max color instead of usin…

…g random colors
PointCloudLibrary · Oct 2, 2014 · 62f0d7e · 62f0d7e
1 parent 3f0d3b1
commit 62f0d7e
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Showing 2 changed files with 4 additions and 14 deletions.
diff --git a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
@@ -531,13 +531,8 @@ pcl::visualization::PointCloudColorHandlerLabelField<PointT>::getColor (vtkSmart
 
   // Assign Glasbey colors in ascending order of labels
   size_t color = 0;
-  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter)
-  {
-    if (color < GLASBEY_LUT_SIZE)
-      colormap[*iter] = getGlasbeyColor (color++);
-    else
-      colormap[*iter] = getRandomColor ();
-  }
+  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
+    colormap[*iter] = getGlasbeyColor (color % GLASBEY_LUT_SIZE);
 
   int j = 0;
   for (vtkIdType cp = 0; cp < nr_points; ++cp)

diff --git a/visualization/src/point_cloud_handlers.cpp b/visualization/src/point_cloud_handlers.cpp
@@ -628,13 +628,8 @@ pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::getCo
 
   // Assign Glasbey colors in ascending order of labels
   size_t color = 0;
-  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter)
-  {
-    if (color < GLASBEY_LUT_SIZE)
-      colormap[*iter] = getGlasbeyColor (color++);
-    else
-      colormap[*iter] = getRandomColor ();
-  }
+  for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter, ++color)
+    colormap[*iter] = getGlasbeyColor (color % GLASBEY_LUT_SIZE);
 
   // If XYZ present, check if the points are invalid
   int x_idx = pcl::getFieldIndex (*cloud_, "x");