registration_visualizer.h
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00001 /*
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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 () : 
00066         viewer_ (),
00067         viewer_thread_ (),
00068         registration_method_name_ (),
00069         update_visualizer_ (),
00070         first_update_flag_ (),
00071         cloud_source_ (),
00072         cloud_target_ (),
00073         visualizer_updating_mutex_ (),
00074         cloud_intermediate_ (),
00075         cloud_intermediate_indices_ (),
00076         cloud_target_indices_ (),
00077         maximum_displayed_correspondences_ (0)
00078       {}
00079 
00087       bool
00088       setRegistration (pcl::Registration<PointSource, PointTarget> &registration)
00089       {
00090         // Update the name of the registration method to be desplayed
00091         registration_method_name_ = registration.getClassName();
00092 
00093         // Create the local callback function and bind it to the local function resposable for updating
00094         // the local buffers
00095         update_visualizer_ = boost::bind (&RegistrationVisualizer<PointSource, PointTarget>::updateIntermediateCloud,
00096                                           this, _1, _2, _3, _4);
00097 
00098         // Register the local callback function to the registration algorithm callback function
00099         registration.registerVisualizationCallback (this->update_visualizer_);
00100 
00101         // Flag that no visualizer update was done. It indicates to visualizer update function to copy
00102         // the registration input source and the target point clouds in the next call.
00103         visualizer_updating_mutex_.lock ();
00104 
00105         first_update_flag_ = false;
00106 
00107         visualizer_updating_mutex_.unlock ();
00108 
00109         return true;
00110       }
00111 
00114       void
00115       startDisplay ();
00116 
00119       void
00120       stopDisplay ();
00121 
00129       void
00130       updateIntermediateCloud (const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &indices_src,
00131                                const pcl::PointCloud<PointTarget> &cloud_tgt, const std::vector<int> &indices_tgt);
00132 
00134       inline void
00135       setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences)
00136       {
00137         // This method is usualy called form other thread than visualizer thread
00138         // therefore same visualizer_updating_mutex_ will be used
00139 
00140         // Lock maximum_displayed_correspondences_
00141         visualizer_updating_mutex_.lock ();
00142 
00143         // Update maximum_displayed_correspondences_
00144         maximum_displayed_correspondences_ = maximum_displayed_correspondences;
00145 
00146         // Unlock maximum_displayed_correspondences_
00147         visualizer_updating_mutex_.unlock();
00148       }
00149 
00151       inline size_t
00152       getMaximumDisplayedCorrespondences()
00153       {
00154         return maximum_displayed_correspondences_;
00155       }
00156 
00157     private:
00159       void
00160       runDisplay ();
00161 
00163       inline std::string
00164       getIndexedName (std::string &root_name, size_t &id)
00165       {
00166         std::stringstream id_stream_;
00167         id_stream_ << id;
00168         std::string indexed_name_ = root_name + id_stream_.str ();
00169         return indexed_name_;
00170       }
00171 
00173       boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer_;
00174 
00176       boost::thread viewer_thread_;
00177 
00179       std::string registration_method_name_;
00180 
00182       boost::function<void
00183       (const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &indices_src, const pcl::PointCloud<
00184           PointTarget> &cloud_tgt, const std::vector<int> &indices_tgt)> update_visualizer_;
00185 
00187       bool first_update_flag_;
00188 
00190       pcl::PointCloud<PointSource> cloud_source_;
00191 
00193       pcl::PointCloud<PointTarget> cloud_target_;
00194 
00196       boost::mutex visualizer_updating_mutex_;
00197 
00199       pcl::PointCloud<PointSource> cloud_intermediate_;
00200 
00202       std::vector<int> cloud_intermediate_indices_;
00203 
00205       std::vector<int> cloud_target_indices_;
00206 
00208       size_t maximum_displayed_correspondences_;
00209 
00210     };
00211 }
00212 
00213 #include <pcl/visualization/impl/registration_visualizer.hpp>
00214 
00215 #endif  //#ifndef PCL_REGISTRATION_VISUALIZER_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:38