Add point cloud drawing methods taking override color

source/RobotAPI/components/ArViz/Client/elements/PointCloud.h

@@ -65,7 +65,7 @@ namespace armarx::viz
         }
 
         template <typename ColorCoeff = int>
-        PointCloud& addPoint(float x, float y, float z, ColorCoeff r, ColorCoeff g, ColorCoeff b, ColorCoeff a = 255)
+        PointCloud & addPoint(float x, float y, float z, ColorCoeff r, ColorCoeff g, ColorCoeff b, ColorCoeff a = 255)
         {
             return addPoint(x, y, z, simox::Color(r, g, b, a));
         }
@@ -102,6 +102,8 @@ namespace armarx::viz
             return addPoint(p.x, p.y, p.z, color);
         }
 
+
+        /// Draw a point cloud.
         template <class PointCloudT>
         PointCloud& pointCloud(const PointCloudT& cloud, bool checkFinite = true)
         {
@@ -116,6 +118,22 @@ namespace armarx::viz
             return *this;
         }
 
+        /// Draw a point cloud with fixed color.
+        template <class PointCloudT>
+        PointCloud& pointCloud(const PointCloudT& cloud, Color color, bool checkFinite = true)
+        {
+            clear();
+            for (const auto& p : cloud)
+            {
+                if (isfinite(p, checkFinite))
+                {
+                    addPoint(p, color);
+                }
+            }
+            return *this;
+        }
+
+        /// Draw a point cloud with given indices.
         template <class PointCloudT>
         PointCloud& pointCloud(const PointCloudT& cloud, const std::vector<int>& indices,
                                bool checkFinite = true)
@@ -123,7 +141,7 @@ namespace armarx::viz
             clear();
             for (int i : indices)
             {
-                ARMARX_CHECK_FITS_SIZE(i, int(cloud.size()));
+                ARMARX_CHECK_FITS_SIZE(i, cloud.size());
                 const auto& p = cloud.at(size_t(i));
                 if (isfinite(p, checkFinite))
                 {
@@ -133,11 +151,32 @@ namespace armarx::viz
             return *this;
         }
 
+        /// Draw a point cloud with given indices and fixed color.
+        template <class PointCloudT>
+        PointCloud& pointCloud(const PointCloudT& cloud, const std::vector<int>& indices,
+                               Color color, bool checkFinite = true)
+        {
+            clear();
+            for (int i : indices)
+            {
+                ARMARX_CHECK_FITS_SIZE(i, cloud.size());
+                const auto& p = cloud.at(size_t(i));
+                if (isfinite(p, checkFinite))
+                {
+                    addPoint(p, color);
+                }
+            }
+            return *this;
+        }
+
+
         PointCloud& pointSizeInPixels(float s)
         {
             data_->pointSizeInPixels = s;
             return *this;
         }
+
+
     private:
 
         template <class PointT>