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PCLVisualizer: make coordinate system actor unpickable #5719

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PCLVisualizer: make coordinate system actor unpickable #5719

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30 changes: 16 additions & 14 deletions visualization/src/pcl_visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -698,6 +698,7 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std:

vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
axes_actor->SetPickable(false);

// Save the ID and actor pair to the global actor map
(*coordinate_actor_map_) [id] = axes_actor;
Expand Down Expand Up @@ -740,6 +741,7 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, f
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
axes_actor->SetPosition (x, y, z);
axes_actor->SetPickable(false);

// Save the ID and actor pair to the global actor map
(*coordinate_actor_map_) [id] = axes_actor;
Expand Down Expand Up @@ -1408,7 +1410,7 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
// Check if the mapper has scalars
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
break;

// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;
Expand All @@ -1419,7 +1421,7 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
PCL_WARN ("[setPointCloudRenderingProperties] Range max must be greater than range min!\n");
return (false);
}

// Update LUT
actor->GetMapper ()->GetLookupTable ()->SetRange (val1, val2);
actor->GetMapper()->UseLookupTableScalarRangeOn ();
Expand Down Expand Up @@ -1571,15 +1573,15 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
// Check if the mapper has scalars
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
break;

// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;

// Get range limits from existing LUT
double *range;
range = actor->GetMapper ()->GetLookupTable ()->GetRange ();

actor->GetMapper ()->ScalarVisibilityOn ();
actor->GetMapper ()->SetScalarRange (range[0], range[1]);
vtkSmartPointer<vtkLookupTable> table;
Expand All @@ -1595,7 +1597,7 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
// Check if the mapper has scalars
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
break;

// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;
Expand Down Expand Up @@ -1725,7 +1727,7 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
// Check if the mapper has scalars
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ())
break;

// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;
Expand All @@ -1736,7 +1738,7 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
PCL_WARN ("[setShapeRenderingProperties] Range max must be greater than range min!\n");
return (false);
}

// Update LUT
actor->GetMapper ()->GetLookupTable ()->SetRange (val1, val2);
actor->GetMapper()->UseLookupTableScalarRangeOn ();
Expand Down Expand Up @@ -1869,11 +1871,11 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
// Check that scalars are not unisgned char (i.e. check if a LUT is used to colormap scalars assuming vtk ColorMode is Default)
if (actor->GetMapper ()->GetInput ()->GetPointData ()->GetScalars ()->IsA ("vtkUnsignedCharArray"))
break;

// Get range limits from existing LUT
double *range;
range = actor->GetMapper ()->GetLookupTable ()->GetRange ();

actor->GetMapper ()->ScalarVisibilityOn ();
actor->GetMapper ()->SetScalarRange (range[0], range[1]);
vtkSmartPointer<vtkLookupTable> table;
Expand Down Expand Up @@ -3013,7 +3015,7 @@ pcl::visualization::PCLVisualizer::addPolygonMesh (const pcl::PolygonMesh &poly_
pcl::fromPCLPointCloud2 (poly_mesh.cloud, *point_cloud);
poly_points->SetNumberOfPoints (point_cloud->size ());

for (std::size_t i = 0; i < point_cloud->size (); ++i)
for (std::size_t i = 0; i < point_cloud->size (); ++i)
{
const pcl::PointXYZ& p = (*point_cloud)[i];
poly_points->InsertPoint (i, p.x, p.y, p.z);
Expand Down Expand Up @@ -3183,7 +3185,7 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (

// Update the cells
cells = vtkSmartPointer<vtkCellArray>::New ();

const auto idx = details::fillCells(lookup, verts, cells, max_size_of_polygon);

cells->GetData ()->SetNumberOfValues (idx);
Expand Down Expand Up @@ -3427,7 +3429,7 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
mapper->MapDataArrayToMultiTextureAttribute(tu,
this_coordinates_name.c_str(),
vtkDataObject::FIELD_ASSOCIATION_POINTS);

polydata->GetPointData ()->AddArray (coordinates);
actor->GetProperty ()->SetTexture (tu, texture);
++tex_id;
Expand Down Expand Up @@ -4346,7 +4348,7 @@ pcl::visualization::PCLVisualizer::close ()
void
pcl::visualization::PCLVisualizer::removeCorrespondences (
const std::string &id, int viewport)
{
{
removeShape (id, viewport);
}

Expand Down Expand Up @@ -4579,7 +4581,7 @@ pcl::visualization::PCLVisualizer::getUniqueCameraFile (int argc, char **argv)
p_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
if (!p_file_indices.empty ())
{
boost::uuids::detail::sha1 sha1;
boost::uuids::detail::sha1 sha1;
bool valid = false;

// Calculate sha1 using canonical paths
Expand Down