registration_visualizer.hpp
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//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointSource, typename PointTarget> void
pcl::RegistrationVisualizer<PointSource, PointTarget>::startDisplay ()
{
// Create and start the rendering thread. This will open the display window.
viewer_thread_ = boost::thread (&pcl::RegistrationVisualizer<PointSource, PointTarget>::runDisplay, this);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointSource, typename PointTarget> void
pcl::RegistrationVisualizer<PointSource, PointTarget>::stopDisplay ()
{
// Stop the rendering thread. This will kill the display window.
viewer_thread_.~thread ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointSource, typename PointTarget> void
pcl::RegistrationVisualizer<PointSource, PointTarget>::runDisplay ()
{
// Open 3D viewer
viewer_
= boost::shared_ptr<pcl::visualization::PCLVisualizer> (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer_->initCameraParameters ();
// Create the handlers for the three point clouds buffers: cloud_source_, cloud_target_ and cloud_intermediate_
pcl::visualization::PointCloudColorHandlerCustom<PointSource> cloud_source_handler_ (cloud_source_.makeShared (),
255, 0, 0);
pcl::visualization::PointCloudColorHandlerCustom<PointTarget> cloud_target_handler_ (cloud_target_.makeShared (),
0, 0, 255);
pcl::visualization::PointCloudColorHandlerCustom<PointSource> cloud_intermediate_handler_ (cloud_intermediate_.makeShared (),
255, 255, 0);
// Create the view port for displaying initial source and target point clouds
int v1 (0);
viewer_->createViewPort (0.0, 0.0, 0.5, 1.0, v1);
viewer_->setBackgroundColor (0, 0, 0, v1);
viewer_->addText ("Initial position of source and target point clouds", 10, 50, "title v1", v1);
viewer_->addText ("Blue -> target", 10, 30, 0.0, 0.0, 1.0, "legend target v1", v1);
viewer_->addText ("Red -> source", 10, 10, 1.0, 0.0, 0.0, "legend source v1", v1);
//
viewer_->addPointCloud<PointSource> (cloud_source_.makeShared (), cloud_source_handler_, "cloud source v1", v1);
viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_, "cloud target v1", v1);
// Create the view port for displaying the registration process of source to target point cloud
int v2 (0);
viewer_->createViewPort (0.5, 0.0, 1.0, 1.0, v2);
viewer_->setBackgroundColor (0.1, 0.1, 0.1, v2);
std::string registration_port_title_ = "Registration using "+registration_method_name_;
viewer_->addText (registration_port_title_, 10, 90, "title v2", v2);
viewer_->addText ("Yellow -> intermediate", 10, 50, 1.0, 1.0, 0.0, "legend intermediate v2", v2);
viewer_->addText ("Blue -> target", 10, 30, 0.0, 0.0, 1.0, "legend target v2", v2);
viewer_->addText ("Red -> source", 10, 10, 1.0, 0.0, 0.0, "legend source v2", v1);
// viewer_->addPointCloud<PointSource> (cloud_source_.makeShared (), cloud_source_handler_, "cloud source v2", v2);
viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_, "cloud target v2", v2);
viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
"cloud intermediate v2", v2);
// Used to remove all old correspondences
size_t correspondeces_old_size = 0;
// Add coordinate system to both ports
viewer_->addCoordinateSystem (1.0, "global");
// The root name of correspondence lines
std::string line_root_ = "line";
// Visualization loop
while (!viewer_->wasStopped ())
{
// Lock access to visualizer buffers
visualizer_updating_mutex_.lock ();
// Updating intermediate point cloud
// Remove old point cloud
viewer_->removePointCloud ("cloud intermediate v2", v2);
// Add the new point cloud
viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
"cloud intermediate v2", v2);
// Updating the correspondece lines
std::string line_name_;
// Remove the old correspondeces
for (size_t correspondence_id = 0; correspondence_id < correspondeces_old_size; ++correspondence_id)
{
// Generate the line name
line_name_ = getIndexedName (line_root_, correspondence_id);
// Remove the current line according to it's name
viewer_->removeShape (line_name_, v2);
}
// Display the new correspondences lines
size_t correspondences_new_size = cloud_intermediate_indices_.size ();
std::stringstream stream_;
stream_ << "Random -> correspondences " << correspondences_new_size;
viewer_->removeShape ("correspondences_size", 0);
viewer_->addText (stream_.str(), 10, 70, 0.0, 1.0, 0.0, "correspondences_size", v2);
// Display entire set of correspondece lines if no maximum displayed correspondences is set
if( ( 0 < maximum_displayed_correspondences_ ) &&
(maximum_displayed_correspondences_ < correspondences_new_size) )
correspondences_new_size = maximum_displayed_correspondences_;
// Actualize correspondeces_old_size
correspondeces_old_size = correspondences_new_size;
// Update new correspondence lines
for (size_t correspondence_id = 0; correspondence_id < correspondences_new_size; ++correspondence_id)
{
// Generate random color for current correspondence line
double random_red = 255 * rand () / (RAND_MAX + 1.0);
double random_green = 255 * rand () / (RAND_MAX + 1.0);
double random_blue = 255 * rand () / (RAND_MAX + 1.0);
// Generate the name for current line
line_name_ = getIndexedName (line_root_, correspondence_id);
// Add the new correspondence line.
viewer_->addLine (cloud_intermediate_[cloud_intermediate_indices_[correspondence_id]],
cloud_target_[cloud_target_indices_[correspondence_id]],
random_red, random_green, random_blue,
line_name_, v2);
}
// Unlock access to visualizer buffers
visualizer_updating_mutex_.unlock ();
// Render visualizer updated buffers
viewer_->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointSource, typename PointTarget> void
pcl::RegistrationVisualizer<PointSource, PointTarget>::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)
{
// Lock local buffers
visualizer_updating_mutex_.lock ();
// Update source and target point clouds if this is the first callback
// Here we are sure that source and target point clouds are initialized
if (!first_update_flag_)
{
first_update_flag_ = true;
this->cloud_source_ = cloud_src;
this->cloud_target_ = cloud_tgt;
this->cloud_intermediate_ = cloud_src;
}
// Copy the intermediate point cloud and it's associates indices
cloud_intermediate_ = cloud_src;
cloud_intermediate_indices_ = indices_src;
// Copy the intermediate indices associate to the target point cloud
cloud_target_indices_ = indices_tgt;
// Unlock local buffers
visualizer_updating_mutex_.unlock ();
}
pcl::RegistrationVisualizer::startDisplay
void startDisplay()
Start the viewer thread.
Definition: registration_visualizer.hpp:41
pcl::RegistrationVisualizer::stopDisplay
void stopDisplay()
Stop the viewer thread.
Definition: registration_visualizer.hpp:49
pcl::visualization::PCLVisualizer
PCL Visualizer main class.
Definition: pcl_visualizer.h:86
pcl::visualization::PointCloudColorHandlerCustom
Handler for predefined user colors.
Definition: point_cloud_color_handlers.h:191
pcl::PointCloud< PointSource >
pcl::RegistrationVisualizer
RegistrationVisualizer represents the base class for rendering the intermediate positions ocupied by ...
Definition: registration_visualizer.h:55
pcl::RegistrationVisualizer::updateIntermediateCloud
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...
Definition: registration_visualizer.hpp:182