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PCLVisualizer: make coordinate system actor unpickable #5719

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9ddd35a
make coordinate system unpickable
themightyoarfish May 24, 2023
405dffd
Merge branch 'master' into visualizer-make-coordinate-system-unpickable
themightyoarfish Dec 9, 2025
7c6c2ce
add pickable option to addCoordinateSystem and make coordinate actors…
themightyoarfish Dec 9, 2025
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16 changes: 8 additions & 8 deletions tools/pcd_viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ isOnly2DImage (const pcl::PCLPointField &field)
return (true);
return (false);
}

void
printHelp (int, char **argv)
{
Expand Down Expand Up @@ -219,7 +219,7 @@ pp_callback (const pcl::visualization::PointPickingEvent& event, void* cookie)
event.getPoint (pos.x, pos.y, pos.z);
p->addText3D<pcl::PointXYZ> (idx_string, pos, 0.0005, 1.0, 1.0, 1.0, idx_string);
}

}

/* ---[ */
Expand Down Expand Up @@ -286,7 +286,7 @@ main (int argc, char** argv)

bool use_vbos = false;
pcl::console::parse_argument (argc, argv, "-vbo_rendering", use_vbos);
if (use_vbos)
if (use_vbos)
print_highlight ("Vertex Buffer Object (VBO) visualization enabled.\n");

bool useEDLRendering = false;
Expand All @@ -295,7 +295,7 @@ main (int argc, char** argv)
print_highlight("EDL visualization enabled.\n");

bool use_pp = pcl::console::find_switch (argc, argv, "-use_point_picking");
if (use_pp)
if (use_pp)
print_highlight ("Point picking enabled.\n");

bool use_ap = pcl::console::find_switch(argc, argv, "-use_area_picking");
Expand All @@ -311,7 +311,7 @@ main (int argc, char** argv)
if (!use_vbos)
{
pcl::console::parse_argument (argc, argv, "-immediate_rendering", use_immediate_rendering);
if (use_immediate_rendering)
if (use_immediate_rendering)
print_highlight ("Using immediate mode rendering.\n");
}

Expand Down Expand Up @@ -486,7 +486,7 @@ main (int argc, char** argv)
{
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%u", cloud->width * cloud->height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (*cloud).c_str ());

std::string name = "PCD Viewer :: " + std::string(argv[p_file_indices.at (i)]);
pcl::visualization::ImageViewer::Ptr img (new pcl::visualization::ImageViewer (name));
pcl::PointCloud<pcl::RGB> rgb_cloud;
Expand Down Expand Up @@ -719,7 +719,7 @@ main (int argc, char** argv)
float ax_x = 0.0, ax_y = 0.0, ax_z = 0.0;
pcl::console::parse_3x_arguments (argc, argv, "-ax_pos", ax_x, ax_y, ax_z);
// Draw XYZ axes if command-line enabled
p->addCoordinateSystem (axes, ax_x, ax_y, ax_z, "global");
p->addCoordinateSystem (axes, ax_x, ax_y, ax_z, "global", 0, false);
}

// Clean up the memory used by the binary blob
Expand Down Expand Up @@ -747,7 +747,7 @@ main (int argc, char** argv)
}
img->spinOnce ();
}

if (p)
{
if (p->wasStopped ())
Expand Down
15 changes: 12 additions & 3 deletions visualization/include/pcl/visualization/pcl_visualizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -308,9 +308,10 @@ namespace pcl
* \param[in] scale the scale of the axes (default: 1)
* \param[in] id the coordinate system object id (default: reference)
* \param[in] viewport the view port where the 3D axes should be added (default: all)
* \param[in] pickable Whether the resulting vtk actors are pickable, i.e. they may attract the view when using 'f' for fly-to-point
*/
void
addCoordinateSystem (double scale = 1.0, const std::string& id = "reference", int viewport = 0);
addCoordinateSystem (double scale = 1.0, const std::string& id = "reference", int viewport = 0, bool pickable = true);

/** \brief Adds 3D axes describing a coordinate system to screen at x, y, z
* \param[in] scale the scale of the axes (default: 1)
Expand All @@ -319,9 +320,10 @@ namespace pcl
* \param[in] z the Z position of the axes
* \param[in] id the coordinate system object id (default: reference)
* \param[in] viewport the view port where the 3D axes should be added (default: all)
* \param[in] pickable Whether the resulting vtk actors are pickable, i.e. they may attract the view when using 'f' for fly-to-point
*/
void
addCoordinateSystem (double scale, float x, float y, float z, const std::string &id = "reference", int viewport = 0);
addCoordinateSystem (double scale, float x, float y, float z, const std::string &id = "reference", int viewport = 0, bool pickable = true);

/** \brief Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw
*
Expand Down Expand Up @@ -1714,7 +1716,7 @@ namespace pcl
* @brief Eye-Dome Lighting makes dark areas to improve depth perception
* See https://www.kitware.com/eye-dome-lighting-a-non-photorealistic-shading-technique/
* It is applied to all actors, including texts.
* @param viewport
* @param viewport
*/
void
enableEDLRendering(int viewport = 0);
Expand Down Expand Up @@ -1942,6 +1944,13 @@ namespace pcl
return (shape_actor_map_);
}

/** \brief Return a pointer to the CoordinateActorMap this visualizer uses. */
CoordinateActorMapPtr
getCoordinateActorMap ()
{
return (coordinate_actor_map_);
}

/** \brief Set the position in screen coordinates.
* \param[in] x where to move the window to (X)
* \param[in] y where to move the window to (Y)
Expand Down
42 changes: 26 additions & 16 deletions visualization/src/pcl_visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -658,7 +658,7 @@ pcl::visualization::PCLVisualizer::removeOrientationMarkerWidgetAxes ()

/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std::string &id, int viewport)
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std::string &id, int viewport, bool pickable)
{
if (scale <= 0.0)
scale = 1.0;
Expand Down Expand Up @@ -691,6 +691,11 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std:
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);

if (!pickable)
{
axes_actor->SetPickable(false);
}

// Save the ID and actor pair to the global actor map
(*coordinate_actor_map_) [id] = axes_actor;

Expand All @@ -699,7 +704,7 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std:

/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, float y, float z, const std::string& id, int viewport)
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, float y, float z, const std::string& id, int viewport, bool pickable)
{
if (scale <= 0.0)
scale = 1.0;
Expand Down Expand Up @@ -733,6 +738,11 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, f
axes_actor->SetMapper (axes_mapper);
axes_actor->SetPosition (x, y, z);

if (!pickable)
{
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 @@ -1400,7 +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 @@ -1411,7 +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 @@ -1563,15 +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 @@ -1587,7 +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 @@ -1717,7 +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 @@ -1728,7 +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 @@ -1861,11 +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 @@ -3005,7 +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 @@ -3175,7 +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 @@ -3419,7 +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 @@ -4338,7 +4348,7 @@ pcl::visualization::PCLVisualizer::close ()
void
pcl::visualization::PCLVisualizer::removeCorrespondences (
const std::string &id, int viewport)
{
{
removeShape (id, viewport);
}

Expand Down Expand Up @@ -4571,7 +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