Merge branch 'master' of gitlab.com:ArmarX/RobotAPI

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

@@ -58,19 +58,21 @@ namespace armarx::viz
             p.color = color;
             return addPoint(p);
         }
-        PointCloud& addPoint(float x, float y, float z, const simox::color::Color& color)
+
+        PointCloud& addPoint(float x, float y, float z, const simox::Color& color)
         {
             return addPoint(x, y, z, Color{color});
         }
 
-        PointCloud& addPoint(float x, float y, float z, std::uint8_t r, std::uint8_t g, std::uint8_t b, std::uint8_t a = 255)
+        template <typename ColorCoeff = int>
+        PointCloud & addPoint(float x, float y, float z, ColorCoeff r, ColorCoeff g, ColorCoeff b, ColorCoeff a = 255)
         {
-            return addPoint(x, y, z, Color{r, g, b, a});
+            return addPoint(x, y, z, simox::Color(r, g, b, a));
         }
 
         PointCloud& addPoint(float x, float y, float z)
         {
-            return addPoint(x, y, z, 0, 0, 0, 255);
+            return addPoint(x, y, z, simox::Color::black(255));
         }
 
         PointCloud& addPoint(float x, float y, float z, std::size_t id, int alpha = 255)
@@ -91,7 +93,7 @@ namespace armarx::viz
                    std::enable_if_t < detail::has_members_rgba<PointT>::value, int> = 0>
         PointCloud & addPoint(const PointT& p)
         {
-            return addPoint(p.x, p.y, p.z, p.r, p.g, p.b, p.a);
+            return addPoint(p.x, p.y, p.z, simox::Color(p.r, p.g, p.b, p.a));
         }
 
         template < class PointT >
@@ -100,6 +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)
         {
@@ -114,6 +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)
@@ -121,7 +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))
                 {
@@ -131,11 +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>

source/RobotAPI/components/ArViz/Introspection/json_elements.cpp

@@ -154,8 +154,10 @@ namespace armarx::viz
         j["pointSizeInPixels"] = pointCloud.pointSizeInPixels;
 
         j["# Points"] = pointCloud.points.size();
-
         j[json::meta::KEY]["# Points"] = json::meta::READ_ONLY;
+
+        j["Points[0:10]"] = ColoredPointList(pointCloud.points.begin(),
+                                             pointCloud.points.begin() + std::min(size_t(10), pointCloud.points.size()));
     }
     void data::from_json(const nlohmann::json& j, ElementPointCloud& pointCloud)
     {