Merge pull request #4354 from larshg/FixKinfuGetColor

[Tools / Kinfu] Fix getColor()
PointCloudLibrary · Aug 26, 2020 · c9e8ed0 · c9e8ed0
2 parents c5fc651 + 5209ffa
commit c9e8ed0
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Showing 2 changed files with 13 additions and 15 deletions.
diff --git a/gpu/kinfu/tools/kinfu_app.cpp b/gpu/kinfu/tools/kinfu_app.cpp
@@ -128,18 +128,17 @@ namespace pcl
         }
 
         /** \brief Obtain the actual color for the input dataset as vtk scalars.
-          * \param[out] scalars the output scalars containing the color for the dataset
-          * \return true if the operation was successful (the handler is capable and 
-          * the input cloud was given as a valid pointer), false otherwise
+          * \return Array of scalars if the operation was successful (the handler is capable and 
+          * the input cloud was given as a valid pointer), nullptr otherwise
           */
-        bool
-        getColor (vtkSmartPointer<vtkDataArray> &scalars) const override
+        vtkSmartPointer<vtkDataArray>
+        getColor () const override
         {
           if (!capable_ || !cloud_)
-            return (false);
+            return nullptr;
 
-          if (!scalars)
-            scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
+          auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
+
           scalars->SetNumberOfComponents (3);
 
           vtkIdType nr_points = vtkIdType (cloud_->size ());
@@ -157,7 +156,7 @@ namespace pcl
               colors[idx + 1] = (*rgb_)[cp].g;
               colors[idx + 2] = (*rgb_)[cp].b;
             }
-          return (true);
+          return scalars;
         }
 
       private:

diff --git a/gpu/kinfu_large_scale/tools/color_handler.h b/gpu/kinfu_large_scale/tools/color_handler.h
@@ -63,14 +63,13 @@ namespace pcl
         capable_ = true;
       }
 
-      bool 
-      getColor (vtkSmartPointer<vtkDataArray> &scalars) const override
+      vtkSmartPointer<vtkDataArray>
+      getColor () const override
       {
         if (!capable_)
-          return (false);
+          return nullptr;
 
-        if (!scalars)
-          scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
+        auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
         scalars->SetNumberOfComponents (3);
 
         vtkIdType nr_points = static_cast<vtkIdType>(cloud_->size ());
@@ -88,7 +87,7 @@ namespace pcl
             colors[idx + 1] = (*rgb_)[cp].g;
             colors[idx + 2] = (*rgb_)[cp].b;
           }
-        return (true);
+        return scalars;
       }
 
     private: