42 template<
typename Po
intSource,
typename Po
intTarget>
void
50 template<
typename Po
intSource,
typename Po
intTarget>
void
54 viewer_thread_.~thread ();
58 template<
typename Po
intSource,
typename Po
intTarget>
void
64 viewer_->initCameraParameters ();
76 viewer_->createViewPort (0.0, 0.0, 0.5, 1.0, v1);
77 viewer_->setBackgroundColor (0, 0, 0, v1);
78 viewer_->addText (
"Initial position of source and target point clouds", 10, 50,
"title v1", v1);
79 viewer_->addText (
"Blue -> target", 10, 30, 0.0, 0.0, 1.0,
"legend target v1", v1);
80 viewer_->addText (
"Red -> source", 10, 10, 1.0, 0.0, 0.0,
"legend source v1", v1);
82 viewer_->addPointCloud<PointSource> (cloud_source_.makeShared (), cloud_source_handler_,
"cloud source v1", v1);
83 viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_,
"cloud target v1", v1);
87 viewer_->createViewPort (0.5, 0.0, 1.0, 1.0, v2);
88 viewer_->setBackgroundColor (0.1, 0.1, 0.1, v2);
89 std::string registration_port_title_ =
"Registration using "+registration_method_name_;
90 viewer_->addText (registration_port_title_, 10, 90,
"title v2", v2);
92 viewer_->addText (
"Yellow -> intermediate", 10, 50, 1.0, 1.0, 0.0,
"legend intermediate v2", v2);
93 viewer_->addText (
"Blue -> target", 10, 30, 0.0, 0.0, 1.0,
"legend target v2", v2);
94 viewer_->addText (
"Red -> source", 10, 10, 1.0, 0.0, 0.0,
"legend source v2", v1);
97 viewer_->addPointCloud<PointTarget> (cloud_target_.makeShared (), cloud_target_handler_,
"cloud target v2", v2);
98 viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
99 "cloud intermediate v2", v2);
102 std::size_t correspondeces_old_size = 0;
105 viewer_->addCoordinateSystem (1.0,
"global");
108 std::string line_root_ =
"line";
111 while (!viewer_->wasStopped ())
114 visualizer_updating_mutex_.lock ();
118 viewer_->removePointCloud (
"cloud intermediate v2", v2);
121 viewer_->addPointCloud<PointSource> (cloud_intermediate_.makeShared (), cloud_intermediate_handler_,
122 "cloud intermediate v2", v2);
126 std::string line_name_;
128 for (std::size_t correspondence_id = 0; correspondence_id < correspondeces_old_size; ++correspondence_id)
131 line_name_ = getIndexedName (line_root_, correspondence_id);
134 viewer_->removeShape (line_name_, v2);
138 std::size_t correspondences_new_size = cloud_intermediate_indices_.size ();
141 std::stringstream stream_;
142 stream_ <<
"Random -> correspondences " << correspondences_new_size;
143 viewer_->removeShape (
"correspondences_size", 0);
144 viewer_->addText (stream_.str(), 10, 70, 0.0, 1.0, 0.0,
"correspondences_size", v2);
147 if( ( 0 < maximum_displayed_correspondences_ ) &&
148 (maximum_displayed_correspondences_ < correspondences_new_size) )
149 correspondences_new_size = maximum_displayed_correspondences_;
152 correspondeces_old_size = correspondences_new_size;
155 for (std::size_t correspondence_id = 0; correspondence_id < correspondences_new_size; ++correspondence_id)
158 double random_red = 255 * rand () / (RAND_MAX + 1.0);
159 double random_green = 255 * rand () / (RAND_MAX + 1.0);
160 double random_blue = 255 * rand () / (RAND_MAX + 1.0);
163 line_name_ = getIndexedName (line_root_, correspondence_id);
166 viewer_->addLine (cloud_intermediate_[cloud_intermediate_indices_[correspondence_id]],
167 cloud_target_[cloud_target_indices_[correspondence_id]],
168 random_red, random_green, random_blue,
173 visualizer_updating_mutex_.unlock ();
176 viewer_->spinOnce (100);
177 using namespace std::chrono_literals;
178 std::this_thread::sleep_for(100ms);
183 template<
typename Po
intSource,
typename Po
intTarget>
void
186 const std::vector<int> &indices_src,
188 const std::vector<int> &indices_tgt)
191 visualizer_updating_mutex_.lock ();
195 if (!first_update_flag_)
197 first_update_flag_ =
true;
199 this->cloud_source_ = cloud_src;
200 this->cloud_target_ = cloud_tgt;
202 this->cloud_intermediate_ = cloud_src;
206 cloud_intermediate_ = cloud_src;
207 cloud_intermediate_indices_ = indices_src;
210 cloud_target_indices_ = indices_tgt;
213 visualizer_updating_mutex_.unlock ();