47 template<
typename Po
intSource,
typename Po
intTarget>
void
55 template<
typename Po
intSource,
typename Po
intTarget>
void
59 viewer_thread_.~thread ();
63 template<
typename Po
intSource,
typename Po
intTarget>
void
69 viewer_->initCameraParameters ();
81 viewer_->createViewPort (0.0, 0.0, 0.5, 1.0, v1);
82 viewer_->setBackgroundColor (0, 0, 0, v1);
83 viewer_->addText (
"Initial position of source and target point clouds", 10, 50,
"title v1", v1);
84 viewer_->addText (
"Blue -> target", 10, 30, 0.0, 0.0, 1.0,
"legend target v1", v1);
85 viewer_->addText (
"Red -> source", 10, 10, 1.0, 0.0, 0.0,
"legend source v1", v1);
87 viewer_->addPointCloud<PointSource> (cloud_source_.makeShared (), cloud_source_handler_,
"cloud source v1", v1);
88 viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_,
"cloud target v1", v1);
92 viewer_->createViewPort (0.5, 0.0, 1.0, 1.0, v2);
93 viewer_->setBackgroundColor (0.1, 0.1, 0.1, v2);
94 std::string registration_port_title_ =
"Registration using "+registration_method_name_;
95 viewer_->addText (registration_port_title_, 10, 90,
"title v2", v2);
97 viewer_->addText (
"Yellow -> intermediate", 10, 50, 1.0, 1.0, 0.0,
"legend intermediate v2", v2);
98 viewer_->addText (
"Blue -> target", 10, 30, 0.0, 0.0, 1.0,
"legend target v2", v2);
99 viewer_->addText (
"Red -> source", 10, 10, 1.0, 0.0, 0.0,
"legend source v2", v1);
102 viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_,
"cloud target v2", v2);
103 viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
104 "cloud intermediate v2", v2);
107 std::size_t correspondeces_old_size = 0;
110 viewer_->addCoordinateSystem (1.0,
"global");
113 std::string line_root_ =
"line";
116 while (!viewer_->wasStopped ())
119 visualizer_updating_mutex_.lock ();
123 viewer_->removePointCloud (
"cloud intermediate v2", v2);
126 viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
127 "cloud intermediate v2", v2);
131 std::string line_name_;
133 for (std::size_t correspondence_id = 0; correspondence_id < correspondeces_old_size; ++correspondence_id)
136 line_name_ = getIndexedName (line_root_, correspondence_id);
139 viewer_->removeShape (line_name_, v2);
143 std::size_t correspondences_new_size = cloud_intermediate_indices_.size ();
146 std::stringstream stream_;
147 stream_ <<
"Random -> correspondences " << correspondences_new_size;
148 viewer_->removeShape (
"correspondences_size", 0);
149 viewer_->addText (stream_.str(), 10, 70, 0.0, 1.0, 0.0,
"correspondences_size", v2);
152 if( ( 0 < maximum_displayed_correspondences_ ) &&
153 (maximum_displayed_correspondences_ < correspondences_new_size) )
154 correspondences_new_size = maximum_displayed_correspondences_;
157 correspondeces_old_size = correspondences_new_size;
160 for (std::size_t correspondence_id = 0; correspondence_id < correspondences_new_size; ++correspondence_id)
163 double random_red = 255 * rand () / (RAND_MAX + 1.0);
164 double random_green = 255 * rand () / (RAND_MAX + 1.0);
165 double random_blue = 255 * rand () / (RAND_MAX + 1.0);
168 line_name_ = getIndexedName (line_root_, correspondence_id);
171 viewer_->addLine (cloud_intermediate_[cloud_intermediate_indices_[correspondence_id]],
172 cloud_target_[cloud_target_indices_[correspondence_id]],
173 random_red, random_green, random_blue,
178 visualizer_updating_mutex_.unlock ();
181 viewer_->spinOnce (100);
182 using namespace std::chrono_literals;
183 std::this_thread::sleep_for(100ms);
188 template<
typename Po
intSource,
typename Po
intTarget>
void
191 const std::vector<int> &indices_src,
193 const std::vector<int> &indices_tgt)
196 visualizer_updating_mutex_.lock ();
200 if (!first_update_flag_)
202 first_update_flag_ =
true;
204 this->cloud_source_ = cloud_src;
205 this->cloud_target_ = cloud_tgt;
207 this->cloud_intermediate_ = cloud_src;
211 cloud_intermediate_ = cloud_src;
212 cloud_intermediate_indices_ = indices_src;
215 cloud_target_indices_ = indices_tgt;
218 visualizer_updating_mutex_.unlock ();
void startDisplay()
Start the viewer thread.
void stopDisplay()
Stop the viewer thread.
shared_ptr< PCLVisualizer > Ptr
PCL Visualizer main class.
Handler for predefined user colors.
RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by...
void updateIntermediateCloud(const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt)
Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices...