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Added updateCoordinateSystemPose(..) to PCLVisualizer. #569

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merged 1 commit into from
Mar 20, 2014
Merged

Added updateCoordinateSystemPose(..) to PCLVisualizer. #569

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12 changes: 12 additions & 0 deletions visualization/include/pcl/visualization/pcl_visualizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -521,6 +521,18 @@ namespace pcl
bool
updateShapePose (const std::string &id, const Eigen::Affine3f& pose);

/** \brief Set the pose of an existing coordinate system.
*
* Returns false if the coordinate system doesn't exist, true if the pose was successfully
* updated.
*
* \param[in] id the point cloud object id (i.e., given on \a addCoordinateSystem etc.)
* \param[in] pose the new pose
* \return false if no coordinate system with the specified ID was found
*/
bool
updateCoordinateSystemPose (const std::string &id, const Eigen::Affine3f& pose);

/** \brief Set the pose of an existing point cloud.
*
* Returns false if the point cloud doesn't exist, true if the pose was successfully
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23 changes: 23 additions & 0 deletions visualization/src/pcl_visualizer.cpp
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Expand Up @@ -1683,6 +1683,29 @@ pcl::visualization::PCLVisualizer::updateShapePose (const std::string &id, const
return (true);
}

/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::updateCoordinateSystemPose (const std::string &id, const Eigen::Affine3f& pose)
{
ShapeActorMap::iterator am_it = coordinate_actor_map_->find (id);

vtkLODActor* actor;

if (am_it == coordinate_actor_map_->end ())
return (false);
else
actor = vtkLODActor::SafeDownCast (am_it->second);

vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();

convertToVtkMatrix (pose.matrix (), matrix);

actor->SetUserMatrix (matrix);
actor->Modified ();

return (true);
}

/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::updatePointCloudPose (const std::string &id, const Eigen::Affine3f& pose)
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