Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: registration_visualizer.h 2011-07-23 01:06:01Z georgeLisca $ 00035 * 00036 */ 00037 00038 #ifndef PCL_REGISTRATION_VISUALIZER_H_ 00039 #define PCL_REGISTRATION_VISUALIZER_H_ 00040 00041 // boost 00042 #include <boost/thread.hpp> 00043 #include <boost/function.hpp> 00044 #include <boost/bind.hpp> 00045 00046 // PCL 00047 #include <pcl/registration/registration.h> 00048 #include <pcl/visualization/pcl_visualizer.h> 00049 00050 namespace pcl 00051 { 00059 template<typename PointSource, typename PointTarget> 00060 class RegistrationVisualizer 00061 { 00062 00063 public: 00065 RegistrationVisualizer () : maximum_displayed_correspondences_ (0) 00066 { } 00067 00075 bool 00076 setRegistration (pcl::Registration<PointSource, PointTarget> ®istration) 00077 { 00078 // Update the name of the registration method to be desplayed 00079 registration_method_name_ = registration.getClassName(); 00080 00081 // Create the local callback function and bind it to the local function resposable for updating 00082 // the local buffers 00083 update_visualizer_ = boost::bind (&RegistrationVisualizer<PointSource, PointTarget>::updateIntermediateCloud, 00084 this, _1, _2, _3, _4); 00085 00086 // Register the local callback function to the registration algorithm callback function 00087 registration.registerVisualizationCallback (this->update_visualizer_); 00088 00089 // Flag that no visualizer update was done. It indicates to visualizer update function to copy 00090 // the registration input source and the target point clouds in the next call. 00091 visualizer_updating_mutex_.lock (); 00092 00093 first_update_flag_ = false; 00094 00095 visualizer_updating_mutex_.unlock (); 00096 00097 return true; 00098 } 00099 00102 void 00103 startDisplay (); 00104 00107 void 00108 stopDisplay (); 00109 00117 void 00118 updateIntermediateCloud (const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &indices_src, 00119 const pcl::PointCloud<PointTarget> &cloud_tgt, const std::vector<int> &indices_tgt); 00120 00122 inline void 00123 setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences) 00124 { 00125 // This method is usualy called form other thread than visualizer thread 00126 // therefore same visualizer_updating_mutex_ will be used 00127 00128 // Lock maximum_displayed_correspondences_ 00129 visualizer_updating_mutex_.lock (); 00130 00131 // Update maximum_displayed_correspondences_ 00132 maximum_displayed_correspondences_ = maximum_displayed_correspondences; 00133 00134 // Unlock maximum_displayed_correspondences_ 00135 visualizer_updating_mutex_.unlock(); 00136 } 00137 00139 inline size_t 00140 getMaximumDisplayedCorrespondences() 00141 { 00142 return maximum_displayed_correspondences_; 00143 } 00144 00145 private: 00147 void 00148 runDisplay (); 00149 00151 inline std::string 00152 getIndexedName (std::string &root_name, size_t &id) 00153 { 00154 std::stringstream id_stream_; 00155 id_stream_ << id; 00156 std::string indexed_name_ = root_name + id_stream_.str (); 00157 return indexed_name_; 00158 } 00159 00161 boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer_; 00162 00164 boost::thread viewer_thread_; 00165 00167 std::string registration_method_name_; 00168 00170 boost::function<void 00171 (const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &indices_src, const pcl::PointCloud< 00172 PointTarget> &cloud_tgt, const std::vector<int> &indices_tgt)> update_visualizer_; 00173 00175 bool first_update_flag_; 00176 00178 pcl::PointCloud<PointSource> cloud_source_; 00179 00181 pcl::PointCloud<PointTarget> cloud_target_; 00182 00184 boost::mutex visualizer_updating_mutex_; 00185 00187 pcl::PointCloud<PointSource> cloud_intermediate_; 00188 00190 std::vector<int> cloud_intermediate_indices_; 00191 00193 std::vector<int> cloud_target_indices_; 00194 00196 size_t maximum_displayed_correspondences_; 00197 00198 }; 00199 } 00200 00201 #include "pcl/visualization/impl/registration_visualizer.hpp" 00202 00203 #endif //#ifndef PCL_REGISTRATION_VISUALIZER_H_