Added check for rgba field in pcl_visualizer.hpp and removed extraneo…

…us check for rgba field in PointCloudColorHandlerRGBField in response to comment by taketwo in pull request #1295.
PointCloudLibrary · Aug 11, 2015 · 0f5f3ff · 0f5f3ff
1 parent 609399e
commit 0f5f3ff
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Showing 2 changed files with 11 additions and 34 deletions.
diff --git a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
@@ -88,16 +88,13 @@ pcl::visualization::PCLVisualizer::addPointCloud (
     return (false);
   }
 
-  if (pcl::traits::has_field<PointT, pcl::fields::rgb>::value)
+  if (pcl::traits::has_field<PointT, pcl::fields::rgb>::value || pcl::traits::has_field<PointT, pcl::fields::rgba>::value)
   {
     PointCloudColorHandlerRGBField<PointT> color_handler_rgb_field (cloud);
     return (fromHandlersToScreen (geometry_handler, color_handler_rgb_field, id, viewport, cloud->sensor_origin_, cloud->sensor_orientation_));
   }
-  else
-  {
-    PointCloudColorHandlerCustom<PointT> color_handler (cloud, 255, 255, 255);
-    return (fromHandlersToScreen (geometry_handler, color_handler, id, viewport, cloud->sensor_origin_, cloud->sensor_orientation_));
-  }
+  PointCloudColorHandlerCustom<PointT> color_handler (cloud, 255, 255, 255);
+  return (fromHandlersToScreen (geometry_handler, color_handler, id, viewport, cloud->sensor_origin_, cloud->sensor_orientation_));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////

diff --git a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
@@ -170,20 +170,10 @@ pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPo
           !pcl_isfinite (cloud_->points[cp].z))
         continue;
 
-      if (rgba_index != -1)
-      {
-        memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + rgba_index, sizeof (pcl::RGB));
-        colors[j    ] = rgb.r;
-        colors[j + 1] = rgb.g;
-        colors[j + 2] = rgb.b;
-      }
-      else
-      {
-        // If no RGB field is available, color the point white
-        colors[j    ] = 255;
-        colors[j + 1] = 255;
-        colors[j + 2] = 255;
-      }
+      memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + rgba_index, sizeof (pcl::RGB));
+      colors[j    ] = rgb.r;
+      colors[j + 1] = rgb.g;
+      colors[j + 2] = rgb.b;
       j += 3;
     }
   }
@@ -193,20 +183,10 @@ pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPo
     for (vtkIdType cp = 0; cp < nr_points; ++cp)
     {
       int idx = static_cast<int> (cp) * 3;
-      if (rgba_index != -1)
-      {
-        memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + rgba_index, sizeof (pcl::RGB));
-        colors[j    ] = rgb.r;
-        colors[j + 1] = rgb.g;
-        colors[j + 2] = rgb.b;
-      }
-      else
-      {
-        // If no RGB field is available, color the point white
-        colors[j    ] = 255;
-        colors[j + 1] = 255;
-        colors[j + 2] = 255;
-      }
+      memcpy (&rgb, (reinterpret_cast<const char *> (&cloud_->points[cp])) + rgba_index, sizeof (pcl::RGB));
+      colors[j    ] = rgb.r;
+      colors[j + 1] = rgb.g;
+      colors[j + 2] = rgb.b;
     }
   }
   return (true);