Point Cloud Library (PCL) 1.13.0
registration_visualizer.hpp
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38
39#pragma once
40
41#include <thread>
42
43
44namespace pcl
45{
46
47template<typename PointSource, typename PointTarget, typename Scalar> void
49{
50 // Create and start the rendering thread. This will open the display window.
52}
53
54
55template<typename PointSource, typename PointTarget, typename Scalar> void
57{
58 // Stop the rendering thread. This will kill the display window.
59 if(viewer_thread_.joinable())
60 viewer_thread_.join();
61 viewer_thread_.~thread ();
62}
63
64
65template<typename PointSource, typename PointTarget, typename Scalar> void
67{
68 // Open 3D viewer
69 viewer_
71 viewer_->initCameraParameters ();
72
73 // Create the handlers for the three point clouds buffers: cloud_source_, cloud_target_ and cloud_intermediate_
74 pcl::visualization::PointCloudColorHandlerCustom<PointSource> cloud_source_handler_ (cloud_source_.makeShared (),
75 255, 0, 0);
76 pcl::visualization::PointCloudColorHandlerCustom<PointTarget> cloud_target_handler_ (cloud_target_.makeShared (),
77 0, 0, 255);
78 pcl::visualization::PointCloudColorHandlerCustom<PointSource> cloud_intermediate_handler_ (cloud_intermediate_.makeShared (),
79 255, 255, 0);
80
81 // Create the view port for displaying initial source and target point clouds
82 int v1 (0);
83 viewer_->createViewPort (0.0, 0.0, 0.5, 1.0, v1);
84 viewer_->setBackgroundColor (0, 0, 0, v1);
85 viewer_->addText ("Initial position of source and target point clouds", 10, 50, "title v1", v1);
86 viewer_->addText ("Blue -> target", 10, 30, 0.0, 0.0, 1.0, "legend target v1", v1);
87 viewer_->addText ("Red -> source", 10, 10, 1.0, 0.0, 0.0, "legend source v1", v1);
88 //
89 viewer_->addPointCloud<PointSource> (cloud_source_.makeShared (), cloud_source_handler_, "cloud source v1", v1);
90 viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_, "cloud target v1", v1);
91
92 // Create the view port for displaying the registration process of source to target point cloud
93 int v2 (0);
94 viewer_->createViewPort (0.5, 0.0, 1.0, 1.0, v2);
95 viewer_->setBackgroundColor (0.1, 0.1, 0.1, v2);
96 std::string registration_port_title_ = "Registration using "+registration_method_name_;
97 viewer_->addText (registration_port_title_, 10, 90, "title v2", v2);
98
99 viewer_->addText ("Yellow -> intermediate", 10, 50, 1.0, 1.0, 0.0, "legend intermediate v2", v2);
100 viewer_->addText ("Blue -> target", 10, 30, 0.0, 0.0, 1.0, "legend target v2", v2);
101 viewer_->addText ("Red -> source", 10, 10, 1.0, 0.0, 0.0, "legend source v2", v1);
102
103// viewer_->addPointCloud<PointSource> (cloud_source_.makeShared (), cloud_source_handler_, "cloud source v2", v2);
104 viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_, "cloud target v2", v2);
105 viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
106 "cloud intermediate v2", v2);
107
108 // Used to remove all old correspondences
109 std::size_t correspondeces_old_size = 0;
110
111 // Add coordinate system to both ports
112 viewer_->addCoordinateSystem (1.0, "global");
113
114 // The root name of correspondence lines
115 std::string line_root_ = "line";
116
117 // Visualization loop
118 while (!viewer_->wasStopped ())
119 {
120 // Lock access to visualizer buffers
121 visualizer_updating_mutex_.lock ();
122
123 // Updating intermediate point cloud
124 // Remove old point cloud
125 viewer_->removePointCloud ("cloud intermediate v2", v2);
126
127 // Add the new point cloud
128 viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
129 "cloud intermediate v2", v2);
130
131 // Updating the correspondece lines
132
133 std::string line_name_;
134 // Remove the old correspondeces
135 for (std::size_t correspondence_id = 0; correspondence_id < correspondeces_old_size; ++correspondence_id)
136 {
137 // Generate the line name
138 line_name_ = getIndexedName (line_root_, correspondence_id);
139
140 // Remove the current line according to it's name
141 viewer_->removeShape (line_name_, v2);
142 }
143
144 // Display the new correspondences lines
145 std::size_t correspondences_new_size = cloud_intermediate_indices_.size ();
146
147
148 const std::string correspondences_text = "Random -> correspondences " + std::to_string(correspondences_new_size);
149 viewer_->removeShape ("correspondences_size", 0);
150 viewer_->addText (correspondences_text, 10, 70, 0.0, 1.0, 0.0, "correspondences_size", v2);
151
152 // Display entire set of correspondece lines if no maximum displayed correspondences is set
153 if( ( 0 < maximum_displayed_correspondences_ ) &&
154 (maximum_displayed_correspondences_ < correspondences_new_size) )
155 correspondences_new_size = maximum_displayed_correspondences_;
156
157 // Actualize correspondeces_old_size
158 correspondeces_old_size = correspondences_new_size;
159
160 // Update new correspondence lines
161 for (std::size_t correspondence_id = 0; correspondence_id < correspondences_new_size; ++correspondence_id)
162 {
163 // Generate random color for current correspondence line
164 double random_red = 255 * rand () / (RAND_MAX + 1.0);
165 double random_green = 255 * rand () / (RAND_MAX + 1.0);
166 double random_blue = 255 * rand () / (RAND_MAX + 1.0);
167
168 // Generate the name for current line
169 line_name_ = getIndexedName (line_root_, correspondence_id);
170
171 // Add the new correspondence line.
172 viewer_->addLine (cloud_intermediate_[cloud_intermediate_indices_[correspondence_id]],
173 cloud_target_[cloud_target_indices_[correspondence_id]],
174 random_red, random_green, random_blue,
175 line_name_, v2);
176 }
177
178 // Unlock access to visualizer buffers
179 visualizer_updating_mutex_.unlock ();
180
181 // Render visualizer updated buffers
182 viewer_->spinOnce (100);
183 using namespace std::chrono_literals;
184 std::this_thread::sleep_for(100ms);
185 }
186}
187
188
189template<typename PointSource, typename PointTarget, typename Scalar> void
191 const pcl::PointCloud<PointSource> &cloud_src,
192 const pcl::Indices &indices_src,
193 const pcl::PointCloud<PointTarget> &cloud_tgt,
194 const pcl::Indices &indices_tgt)
195{
196 // Lock local buffers
197 visualizer_updating_mutex_.lock ();
198
199 // Update source and target point clouds if this is the first callback
200 // Here we are sure that source and target point clouds are initialized
201 if (!first_update_flag_)
202 {
203 first_update_flag_ = true;
204
205 this->cloud_source_ = cloud_src;
206 this->cloud_target_ = cloud_tgt;
207
208 this->cloud_intermediate_ = cloud_src;
209 }
210
211 // Copy the intermediate point cloud and it's associates indices
212 cloud_intermediate_ = cloud_src;
213 cloud_intermediate_indices_ = indices_src;
214
215 // Copy the intermediate indices associate to the target point cloud
216 cloud_target_indices_ = indices_tgt;
217
218 // Unlock local buffers
219 visualizer_updating_mutex_.unlock ();
220}
221
222} // namespace pcl
RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by...
void stopDisplay()
Stop the viewer thread.
void startDisplay()
Start the viewer thread.
void updateIntermediateCloud(const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt)
Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices...
PCL Visualizer main class.
shared_ptr< PCLVisualizer > Ptr
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133