Special Terms

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Special Terms

Ben Mal
Hi There,
There are some special terms in the PCL documentation that I, as a beginner
user, has no idea what they mean, such as "object id" or "interactor". I was
wondering if there is any reference I could find their definition?




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Re: Special Terms

Stephen McDowell
I have some suspicions, but could you include more context (e.g. a link to the docs that are confusing you and a small excerpt to make it easy for us to search for)?

On Tue, Apr 17, 2018, 4:54 PM Ben Mal <[hidden email]> wrote:
Hi There,
There are some special terms in the PCL documentation that I, as a beginner
user, has no idea what they mean, such as "object id" or "interactor". I was
wondering if there is any reference I could find their definition?




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Re: Special Terms

Ben Mal
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Re: Special Terms

Stephen McDowell
bool updatePointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="cloud”)

Updates the XYZ data for an existing cloud object id on screen.

The signature of the method appears to indicate what object id is here.  By default, adding or updating a point cloud is associated with a string label.  If you do not specify the const std::string &id parameter, the “object id” will always be “cloud” from the default parameter.

So presumably you could use this to have two clouds displayed by the viewer.  For example I’d be willing to bet that if you had two clouds, and labelled them “source” and “target” (using the id parameter), there’s almost certainly a way to ask the visualizer to display “source” as say blue and “target” as say red.  I don’t know for certain, but the idea behind object id is that you can label you point clouds that are being displayed with a string identifier.

For example, at setup time in the UI code you could call

addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const std::string &id="cloud", int viewport=0)

Then later you can call `updatePointCloud` to give new values to the cloud being displayed.  If you want to display more than one cloud, then give the `id` parameter a value here.

Does that make sense?  This is all just an assumption based on the fact that `id` is a string parameter, and every mention of `object id` in the docs is attached to a method that has a const std::string &id parameter with default value `cloud`.  So if you’re only displaying one cloud, you could in theory ignore `object id` altogether.

Hope that clarifies things!



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