Point Cloud Library (PCL) 1.15.0
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registration_visualizer.h
1/*
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37
38#pragma once
39
40// PCL
41#include <pcl/registration/registration.h>
42#include <pcl/visualization/pcl_visualizer.h>
43
44#include <mutex>
45#include <thread>
46
47namespace pcl
48{
49 /** \brief @b RegistrationVisualizer represents the base class for rendering
50 * the intermediate positions occupied by the source point cloud during it's registration
51 * to the target point cloud. A registration algorithm is considered as input and
52 * it's convergence is rendered.
53 * \author Gheorghe Lisca
54 * \ingroup visualization
55 */
56 template<typename PointSource, typename PointTarget, typename Scalar = float>
58 {
59
60 public:
61 /** \brief Empty constructor. */
63 update_visualizer_ (),
64 cloud_source_ (),
65 cloud_target_ (),
66 cloud_intermediate_ ()
67 {}
68
73
74 /** \brief Set the registration algorithm whose intermediate steps will be rendered.
75 * The method creates the local callback function pcl::RegistrationVisualizer::update_visualizer_ and
76 * binds it to the local buffers update function pcl::RegistrationVisualizer::updateIntermediateCloud().
77 * The local callback function pcl::RegistrationVisualizer::update_visualizer_ is then linked to
78 * the pcl::Registration::update_visualizer_ callback function.
79 * \param registration represents the registration method whose intermediate steps will be rendered.
80 */
81 bool
83 {
84 // Update the name of the registration method to be displayed
85 registration_method_name_ = registration.getClassName();
86
87 // Create the local callback function and bind it to the local function responsible for updating
88 // the local buffers
89 update_visualizer_ = [this] (const pcl::PointCloud<PointSource>& cloud_src, const pcl::Indices& indices_src,
90 const pcl::PointCloud<PointTarget>& cloud_tgt, const pcl::Indices& indices_tgt)
91 {
92 updateIntermediateCloud (cloud_src, indices_src, cloud_tgt, indices_tgt);
93 };
94
95 // Flag that no visualizer update was done. It indicates to visualizer update function to copy
96 // the registration input source and the target point clouds in the next call.
97 visualizer_updating_mutex_.lock ();
98
99 first_update_flag_ = false;
100
101 visualizer_updating_mutex_.unlock ();
102
103 // Register the local callback function to the registration algorithm callback function
104 registration.registerVisualizationCallback (this->update_visualizer_);
105
106 return true;
107 }
108
109 /** \brief Start the viewer thread
110 */
111 void
112 startDisplay ();
113
114 /** \brief Stop the viewer thread
115 */
116 void
117 stopDisplay ();
118
119 /** \brief Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices with
120 * the newest registration intermediate results.
121 * \param cloud_src represents the initial source point cloud
122 * \param indices_src represents the indices of the intermediate source points used for the estimation of rigid transformation
123 * \param cloud_tgt represents the target point cloud
124 * \param indices_tgt represents the indices of the target points used for the estimation of rigid transformation
125 */
126 void
127 updateIntermediateCloud (const pcl::PointCloud<PointSource> &cloud_src, const pcl::Indices &indices_src,
128 const pcl::PointCloud<PointTarget> &cloud_tgt, const pcl::Indices &indices_tgt);
129
130 /** \brief Set maximum number of correspondence lines which will be rendered. */
131 inline void
132 setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences)
133 {
134 // This method is usually called form other thread than visualizer thread
135 // therefore same visualizer_updating_mutex_ will be used
136
137 // Lock maximum_displayed_correspondences_
138 visualizer_updating_mutex_.lock ();
139
140 // Update maximum_displayed_correspondences_
141 maximum_displayed_correspondences_ = maximum_displayed_correspondences;
142
143 // Unlock maximum_displayed_correspondences_
144 visualizer_updating_mutex_.unlock();
145 }
146
147 /** \brief Return maximum number of correspondence lines which are rendered. */
148 inline std::size_t
150 {
151 return maximum_displayed_correspondences_;
152 }
153
154 private:
155 /** \brief Initialize and run the visualization loop. This function will run in the internal thread viewer_thread_ */
156 void
157 runDisplay ();
158
159 /** \brief Return the string obtained by concatenating a root_name and an id */
160 inline std::string
161 getIndexedName (std::string &root_name, std::size_t &id)
162 {
163 return root_name + std::to_string(id);
164 }
165
166 /** \brief The registration viewer. */
168
169 /** \brief The thread running the runDisplay() function. */
170 std::thread viewer_thread_;
171
172 /** \brief The name of the registration method whose intermediate results are rendered. */
173 std::string registration_method_name_;
174
175 /** \brief Callback function linked to pcl::Registration::update_visualizer_ */
176 std::function<void
177 (const pcl::PointCloud<PointSource> &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud<
178 PointTarget> &cloud_tgt, const pcl::Indices &indices_tgt)> update_visualizer_;
179
180 /** \brief Updates source and target point clouds only for the first update call. */
181 bool first_update_flag_{false};
182
183 /** \brief The local buffer for source point cloud. */
184 pcl::PointCloud<PointSource> cloud_source_;
185
186 /** \brief The local buffer for target point cloud. */
187 pcl::PointCloud<PointTarget> cloud_target_;
188
189 /** \brief The mutex used for the synchronization of updating and rendering of the local buffers. */
190 std::mutex visualizer_updating_mutex_;
191
192 /** \brief The local buffer for intermediate point cloud obtained during registration process. */
193 pcl::PointCloud<PointSource> cloud_intermediate_;
194
195 /** \brief The indices of intermediate points used for computation of rigid transformation. */
196 pcl::Indices cloud_intermediate_indices_;
197
198 /** \brief The indices of target points used for computation of rigid transformation. */
199 pcl::Indices cloud_target_indices_;
200
201 /** \brief The maximum number of displayed correspondences. */
202 std::size_t maximum_displayed_correspondences_{0};
203
204 };
205}
206
207#include <pcl/visualization/impl/registration_visualizer.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
Registration represents the base registration class for general purpose, ICP-like methods.
bool registerVisualizationCallback(std::function< UpdateVisualizerCallbackSignature > &visualizerCallback)
Register the user callback function which will be called from registration thread in order to update ...
const std::string & getClassName() const
Abstract class get name method.
RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by...
void setMaximumDisplayedCorrespondences(const int maximum_displayed_correspondences)
Set maximum number of correspondence lines which will be rendered.
RegistrationVisualizer()
Empty constructor.
void stopDisplay()
Stop the viewer thread.
bool setRegistration(pcl::Registration< PointSource, PointTarget, Scalar > &registration)
Set the registration algorithm whose intermediate steps will be rendered.
std::size_t getMaximumDisplayedCorrespondences()
Return maximum number of correspondence lines which are rendered.
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...
shared_ptr< PCLVisualizer > Ptr
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133