actor_map.h

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 * $Id: actor_map.h 3769 2012-01-01 00:50:53Z rusu $
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#ifndef PCL_PCL_VISUALIZER_ACTOR_MAP_H_
#define PCL_PCL_VISUALIZER_ACTOR_MAP_H_

#include <pcl/visualization/point_cloud_handlers.h>
#include <vector>
#include <boost/unordered_map.hpp>
#include <vtkLODActor.h>
#include <vtkSmartPointer.h>
#include <sensor_msgs/PointCloud2.h>

namespace pcl
{
  namespace visualization
  {
    class PCL_EXPORTS CloudActor
    {
      typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2> GeometryHandler;
      typedef GeometryHandler::Ptr GeometryHandlerPtr;
      typedef GeometryHandler::ConstPtr GeometryHandlerConstPtr;

      typedef PointCloudColorHandler<sensor_msgs::PointCloud2> ColorHandler;
      typedef ColorHandler::Ptr ColorHandlerPtr;
      typedef ColorHandler::ConstPtr ColorHandlerConstPtr;

      public:
        CloudActor () : color_handler_index_ (0), geometry_handler_index_ (0) {}

        virtual ~CloudActor ()
        {
          geometry_handlers.clear ();
          color_handlers.clear ();
        }

        vtkSmartPointer<vtkLODActor> actor;

        std::vector<GeometryHandlerConstPtr> geometry_handlers;

        std::vector<ColorHandlerConstPtr> color_handlers;

        int color_handler_index_;

        int geometry_handler_index_;

        vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;

        vtkSmartPointer<vtkIdTypeArray> cells;
    };

    typedef boost::unordered_map<std::string, CloudActor> CloudActorMap;
    typedef boost::shared_ptr<CloudActorMap> CloudActorMapPtr;

    typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
    typedef boost::shared_ptr<ShapeActorMap> ShapeActorMapPtr;

    typedef std::map<int, vtkSmartPointer<vtkProp> > CoordinateActorMap;
  }
}

#endif