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Use strongly typed 'enum' instead of 'int' for properties in PCLVisualizer code
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77 files changed

+438
-334
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77 files changed

+438
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lines changed

‎apps/cloud_composer/src/items/cloud_item.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -71,8 +71,8 @@ void
7171
pcl::cloud_composer::CloudItem::paintView (pcl::visualization::PCLVisualizer::Ptr vis) const
7272
{
7373
vis->addPointCloud (cloud_blob_ptr_, geometry_handler_, color_handler_, origin_, orientation_, getId ().toStdString ());
74-
vis->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, properties_->getProperty ("Point Size").toDouble (), getId ().toStdString ());
75-
vis->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, properties_->getProperty ("Opacity").toDouble (), getId ().toStdString ());
74+
vis->setPointCloudRenderingProperties (pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, properties_->getProperty ("Point Size").toDouble (), getId ().toStdString ());
75+
vis->setPointCloudRenderingProperties (pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY, properties_->getProperty ("Opacity").toDouble (), getId ().toStdString ());
7676

7777
}
7878

‎apps/src/face_detection/filesystem_face_detection.cpp

+3-1
Original file line numberDiff line numberDiff line change
@@ -82,7 +82,9 @@ run(pcl::RFFaceDetectorTrainer& fdrf,
8282
handler_votes(votes_cloud, "intensity");
8383
vis.addPointCloud<pcl::PointXYZI>(votes_cloud, handler_votes, "votes_cloud");
8484
vis.setPointCloudRenderingProperties(
85-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 14, "votes_cloud");
85+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
86+
14,
87+
"votes_cloud");
8688
}
8789

8890
vis.addCoordinateSystem(0.1, "global");

‎apps/src/face_detection/openni_face_detection.cpp

+9-3
Original file line numberDiff line numberDiff line change
@@ -70,11 +70,17 @@ run(pcl::RFFaceDetectorTrainer& fdrf, bool heat_map = false, bool show_votes = f
7070
votes_cloud, 255, 0, 0);
7171
vis.addPointCloud<pcl::PointXYZ>(votes_cloud, handler_votes, "votes_cloud");
7272
vis.setPointCloudRenderingProperties(
73-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 14, "votes_cloud");
73+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
74+
14,
75+
"votes_cloud");
7476
vis.setPointCloudRenderingProperties(
75-
pcl::visualization::PCL_VISUALIZER_OPACITY, 0.5, "votes_cloud");
77+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
78+
0.5,
79+
"votes_cloud");
7680
vis.setPointCloudRenderingProperties(
77-
pcl::visualization::PCL_VISUALIZER_OPACITY, 0.75, "votes_cloud");
81+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
82+
0.75,
83+
"votes_cloud");
7884
}
7985

8086
std::vector<Eigen::VectorXf> heads;

‎apps/src/ni_agast.cpp

+6-2
Original file line numberDiff line numberDiff line change
@@ -306,9 +306,13 @@ class AGASTDemo {
306306
if (!cloud_viewer_.updatePointCloud(keypoints3d, blue, "keypoints"))
307307
cloud_viewer_.addPointCloud(keypoints3d, blue, "keypoints");
308308
cloud_viewer_.setPointCloudRenderingProperties(
309-
visualization::PCL_VISUALIZER_POINT_SIZE, 20, "keypoints");
309+
visualization::RenderingProperties::PCL_VISUALIZER_FONT_SIZE,
310+
20,
311+
"keypoints");
310312
cloud_viewer_.setPointCloudRenderingProperties(
311-
visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
313+
visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
314+
0.5,
315+
"keypoints");
312316
}
313317
}
314318

‎apps/src/ni_brisk.cpp

+6-2
Original file line numberDiff line numberDiff line change
@@ -253,9 +253,13 @@ class BRISKDemo {
253253
if (!cloud_viewer_.updatePointCloud(keypoints3d, blue, "keypoints"))
254254
cloud_viewer_.addPointCloud(keypoints3d, blue, "keypoints");
255255
cloud_viewer_.setPointCloudRenderingProperties(
256-
visualization::PCL_VISUALIZER_POINT_SIZE, 10, "keypoints");
256+
visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
257+
10,
258+
"keypoints");
257259
cloud_viewer_.setPointCloudRenderingProperties(
258-
visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
260+
visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
261+
0.5,
262+
"keypoints");
259263
}
260264

261265
cloud_viewer_.spinOnce();

‎apps/src/ni_linemod.cpp

+5-3
Original file line numberDiff line numberDiff line change
@@ -440,7 +440,7 @@ class NILinemod {
440440
// Else, draw it on screen
441441
// cloud_viewer_.addPolygon (region, 1.0, 0.0, 0.0, "region");
442442
// cloud_viewer_.setShapeRenderingProperties
443-
// (visualization::PCL_VISUALIZER_LINE_WIDTH, 10, "region");
443+
// (visualization::RenderingProperties::PCL_VISUALIZER_LINE_WIDTH, 10, "region");
444444

445445
PlanarRegion<PointT> refined_region;
446446
pcl::approximatePolygon(region, refined_region, 0.01, false, true);
@@ -449,7 +449,9 @@ class NILinemod {
449449
static_cast<std::size_t>(refined_region.getContour().size()));
450450
cloud_viewer_.addPolygon(refined_region, 0.0, 0.0, 1.0, "refined_region");
451451
cloud_viewer_.setShapeRenderingProperties(
452-
visualization::PCL_VISUALIZER_LINE_WIDTH, 10, "refined_region");
452+
visualization::RenderingProperties::PCL_VISUALIZER_LINE_WIDTH,
453+
10,
454+
"refined_region");
453455

454456
// Draw in image space
455457
image_viewer_.addPlanarPolygon(
@@ -485,7 +487,7 @@ class NILinemod {
485487
0.0,
486488
cube_name);
487489
cloud_viewer_.setShapeRenderingProperties(
488-
visualization::PCL_VISUALIZER_LINE_WIDTH, 10, cube_name);
490+
visualization::RenderingProperties::PCL_VISUALIZER_LINE_WIDTH, 10, cube_name);
489491

490492
// ...and 2D
491493
image_viewer_.addRectangle(search_.getInputCloud(), *object);

‎apps/src/ni_susan.cpp

+6-2
Original file line numberDiff line numberDiff line change
@@ -160,9 +160,13 @@ class SUSANDemo {
160160
if (!cloud_viewer_.updatePointCloud(keypoints, blue, "keypoints"))
161161
cloud_viewer_.addPointCloud(keypoints, blue, "keypoints");
162162
cloud_viewer_.setPointCloudRenderingProperties(
163-
visualization::PCL_VISUALIZER_POINT_SIZE, 20, "keypoints");
163+
visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
164+
20,
165+
"keypoints");
164166
cloud_viewer_.setPointCloudRenderingProperties(
165-
visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
167+
visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
168+
0.5,
169+
"keypoints");
166170
}
167171
}
168172

‎apps/src/ni_trajkovic.cpp

+6-2
Original file line numberDiff line numberDiff line change
@@ -187,9 +187,13 @@ class TrajkovicDemo {
187187
if (!cloud_viewer_.updatePointCloud(keypoints, blue, "keypoints"))
188188
cloud_viewer_.addPointCloud(keypoints, blue, "keypoints");
189189
cloud_viewer_.setPointCloudRenderingProperties(
190-
visualization::PCL_VISUALIZER_POINT_SIZE, 10, "keypoints");
190+
visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
191+
10,
192+
"keypoints");
191193
cloud_viewer_.setPointCloudRenderingProperties(
192-
visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
194+
visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
195+
0.5,
196+
"keypoints");
193197
}
194198
}
195199

‎apps/src/openni_organized_edge_detection.cpp

+59-29
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ class OpenNIOrganizedEdgeDetection {
6161
viewer->setSize(640, 480);
6262
viewer->addPointCloud<PointT>(cloud, "cloud");
6363
viewer->setPointCloudRenderingProperties(
64-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
64+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
6565
viewer->addCoordinateSystem(0.2f, "global");
6666
viewer->initCameraParameters();
6767
viewer->registerKeyboardCallback(&OpenNIOrganizedEdgeDetection::keyboard_callback,
@@ -71,43 +71,63 @@ class OpenNIOrganizedEdgeDetection {
7171
const int point_size = 2;
7272
viewer->addPointCloud<PointT>(cloud, "nan boundary edges");
7373
viewer->setPointCloudRenderingProperties(
74-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
74+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
7575
point_size,
7676
"nan boundary edges");
77-
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,
78-
0.0f,
79-
0.0f,
80-
1.0f,
81-
"nan boundary edges");
77+
viewer->setPointCloudRenderingProperties(
78+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_IMMEDIATE_RENDERING,
79+
0.0f,
80+
0.0f,
81+
1.0f,
82+
"nan boundary edges");
8283

8384
viewer->addPointCloud<PointT>(cloud, "occluding edges");
8485
viewer->setPointCloudRenderingProperties(
85-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, "occluding edges");
86+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
87+
point_size,
88+
"occluding edges");
8689
viewer->setPointCloudRenderingProperties(
87-
pcl::visualization::PCL_VISUALIZER_COLOR, 0.0f, 1.0f, 0.0f, "occluding edges");
90+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
91+
0.0f,
92+
1.0f,
93+
0.0f,
94+
"occluding edges");
8895

8996
viewer->addPointCloud<PointT>(cloud, "occluded edges");
9097
viewer->setPointCloudRenderingProperties(
91-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, "occluded edges");
98+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
99+
point_size,
100+
"occluded edges");
92101
viewer->setPointCloudRenderingProperties(
93-
pcl::visualization::PCL_VISUALIZER_COLOR, 1.0f, 0.0f, 0.0f, "occluded edges");
102+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
103+
1.0f,
104+
0.0f,
105+
0.0f,
106+
"occluded edges");
94107

95108
viewer->addPointCloud<PointT>(cloud, "high curvature edges");
96109
viewer->setPointCloudRenderingProperties(
97-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
110+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
98111
point_size,
99112
"high curvature edges");
100-
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,
101-
1.0f,
102-
1.0f,
103-
0.0f,
104-
"high curvature edges");
113+
viewer->setPointCloudRenderingProperties(
114+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
115+
1.0f,
116+
1.0f,
117+
0.0f,
118+
"high curvature edges");
105119

106120
viewer->addPointCloud<PointT>(cloud, "rgb edges");
107121
viewer->setPointCloudRenderingProperties(
108-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, "rgb edges");
122+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
123+
point_size,
124+
"rgb edges");
109125
viewer->setPointCloudRenderingProperties(
110-
pcl::visualization::PCL_VISUALIZER_COLOR, 0.0f, 1.0f, 1.0f, "rgb edges");
126+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_COLOR,
127+
0.0f,
128+
1.0f,
129+
1.0f,
130+
"rgb edges");
111131

112132
return viewer;
113133
}
@@ -120,43 +140,53 @@ class OpenNIOrganizedEdgeDetection {
120140
switch (event.getKeyCode()) {
121141
case '1':
122142
viewer->getPointCloudRenderingProperties(
123-
pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "nan boundary edges");
143+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
144+
opacity,
145+
"nan boundary edges");
124146
viewer->setPointCloudRenderingProperties(
125-
pcl::visualization::PCL_VISUALIZER_OPACITY,
147+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
126148
1.0 - opacity,
127149
"nan boundary edges");
128150
break;
129151
case '2':
130152
viewer->getPointCloudRenderingProperties(
131-
pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluding edges");
153+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
154+
opacity,
155+
"occluding edges");
132156
viewer->setPointCloudRenderingProperties(
133-
pcl::visualization::PCL_VISUALIZER_OPACITY,
157+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
134158
1.0 - opacity,
135159
"occluding edges");
136160
break;
137161
case '3':
138162
viewer->getPointCloudRenderingProperties(
139-
pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "occluded edges");
163+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
164+
opacity,
165+
"occluded edges");
140166
viewer->setPointCloudRenderingProperties(
141-
pcl::visualization::PCL_VISUALIZER_OPACITY,
167+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
142168
1.0 - opacity,
143169
"occluded edges");
144170
break;
145171
case '4':
146172
viewer->getPointCloudRenderingProperties(
147-
pcl::visualization::PCL_VISUALIZER_OPACITY,
173+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
148174
opacity,
149175
"high curvature edges");
150176
viewer->setPointCloudRenderingProperties(
151-
pcl::visualization::PCL_VISUALIZER_OPACITY,
177+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
152178
1.0 - opacity,
153179
"high curvature edges");
154180
break;
155181
case '5':
156182
viewer->getPointCloudRenderingProperties(
157-
pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, "rgb edges");
183+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
184+
opacity,
185+
"rgb edges");
158186
viewer->setPointCloudRenderingProperties(
159-
pcl::visualization::PCL_VISUALIZER_OPACITY, 1.0 - opacity, "rgb edges");
187+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
188+
1.0 - opacity,
189+
"rgb edges");
160190
break;
161191
}
162192
}

‎apps/src/openni_organized_multi_plane_segmentation.cpp

+5-3
Original file line numberDiff line numberDiff line change
@@ -66,9 +66,9 @@ class OpenNIOrganizedMultiPlaneSegmentation {
6666
cloud, 0, 255, 0);
6767
viewer->addPointCloud<PointT>(cloud, single_color, "cloud");
6868
viewer->setPointCloudRenderingProperties(
69-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
69+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
7070
viewer->setPointCloudRenderingProperties(
71-
pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
71+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
7272
viewer->addCoordinateSystem(1.0, "global");
7373
viewer->initCameraParameters();
7474
return viewer;
@@ -180,7 +180,9 @@ class OpenNIOrganizedMultiPlaneSegmentation {
180180
contour, red[i], grn[i], blu[i]);
181181
viewer->addPointCloud(contour, color, name);
182182
viewer->setPointCloudRenderingProperties(
183-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 4, name);
183+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
184+
4,
185+
name);
184186
}
185187
prev_models_size = regions.size();
186188
cloud_mutex.unlock();

‎apps/src/openni_uniform_sampling.cpp

+3-1
Original file line numberDiff line numberDiff line change
@@ -110,7 +110,9 @@ class OpenNIUniformSampling {
110110
if (!viz.updatePointCloud<pcl::PointXYZ>(keypoints_, "keypoints")) {
111111
viz.addPointCloud<pcl::PointXYZ>(keypoints_, "keypoints");
112112
viz.setPointCloudRenderingProperties(
113-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5.0, "keypoints");
113+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE,
114+
5.0,
115+
"keypoints");
114116
viz.resetCameraViewpoint("keypoints");
115117
}
116118
}

‎apps/src/organized_segmentation_demo.cpp

+5-3
Original file line numberDiff line numberDiff line change
@@ -48,7 +48,7 @@ displayPlanarRegions(
4848
if (!viewer->updatePointCloud(contour, color, name))
4949
viewer->addPointCloud(contour, color, name);
5050
viewer->setPointCloudRenderingProperties(
51-
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, name);
51+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_POINT_SIZE, 5, name);
5252
}
5353
}
5454

@@ -72,7 +72,7 @@ displayEuclideanClusters(const pcl::PointCloud<PointT>::CloudVectorType& cluster
7272
viewer->setPointCloudRenderingProperties(
7373
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, name);
7474
viewer->setPointCloudRenderingProperties(
75-
pcl::visualization::PCL_VISUALIZER_OPACITY, 0.3, name);
75+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY, 0.3, name);
7676
}
7777
}
7878

@@ -449,7 +449,9 @@ OrganizedSegmentationDemo::timeoutSlot()
449449
vis_->addPointCloudNormals<PointT, pcl::Normal>(
450450
prev_cloud_.makeShared(), prev_normals_.makeShared(), 10, 0.05f, "normals");
451451
vis_->setPointCloudRenderingProperties(
452-
pcl::visualization::PCL_VISUALIZER_OPACITY, 0.5, "normals");
452+
pcl::visualization::RenderingProperties::PCL_VISUALIZER_OPACITY,
453+
0.5,
454+
"normals");
453455
}
454456
else {
455457
vis_->removePointCloud("normals");

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