Point Cloud Library (PCL)  1.13.1-dev
registration_visualizer.hpp
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38 
39 #pragma once
40 
41 #include <thread>
42 
43 
44 namespace pcl
45 {
46 
47 template<typename PointSource, typename PointTarget, typename Scalar> void
49 {
50  // Create and start the rendering thread. This will open the display window.
52 }
53 
54 
55 template<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 
65 template<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 
189 template<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