Point Cloud Library (PCL) 1.13.0
registration_visualizer.h
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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 first_update_flag_ (false),
65 cloud_source_ (),
66 cloud_target_ (),
67 cloud_intermediate_ (),
68 maximum_displayed_correspondences_ (0)
69 {}
70
72 {
74 }
75
76 /** \brief Set the registration algorithm whose intermediate steps will be rendered.
77 * The method creates the local callback function pcl::RegistrationVisualizer::update_visualizer_ and
78 * binds it to the local buffers update function pcl::RegistrationVisualizer::updateIntermediateCloud().
79 * The local callback function pcl::RegistrationVisualizer::update_visualizer_ is then linked to
80 * the pcl::Registration::update_visualizer_ callback function.
81 * \param registration represents the registration method whose intermediate steps will be rendered.
82 */
83 bool
85 {
86 // Update the name of the registration method to be displayed
87 registration_method_name_ = registration.getClassName();
88
89 // Create the local callback function and bind it to the local function responsible for updating
90 // the local buffers
91 update_visualizer_ = [this] (const pcl::PointCloud<PointSource>& cloud_src, const pcl::Indices& indices_src,
92 const pcl::PointCloud<PointTarget>& cloud_tgt, const pcl::Indices& indices_tgt)
93 {
94 updateIntermediateCloud (cloud_src, indices_src, cloud_tgt, indices_tgt);
95 };
96
97 // Flag that no visualizer update was done. It indicates to visualizer update function to copy
98 // the registration input source and the target point clouds in the next call.
99 visualizer_updating_mutex_.lock ();
100
101 first_update_flag_ = false;
102
103 visualizer_updating_mutex_.unlock ();
104
105 // Register the local callback function to the registration algorithm callback function
106 registration.registerVisualizationCallback (this->update_visualizer_);
107
108 return true;
109 }
110
111 /** \brief Start the viewer thread
112 */
113 void
114 startDisplay ();
115
116 /** \brief Stop the viewer thread
117 */
118 void
119 stopDisplay ();
120
121 /** \brief Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices with
122 * the newest registration intermediate results.
123 * \param cloud_src represents the initial source point cloud
124 * \param indices_src represents the indices of the intermediate source points used for the estimation of rigid transformation
125 * \param cloud_tgt represents the target point cloud
126 * \param indices_tgt represents the indices of the target points used for the estimation of rigid transformation
127 */
128 void
129 updateIntermediateCloud (const pcl::PointCloud<PointSource> &cloud_src, const pcl::Indices &indices_src,
130 const pcl::PointCloud<PointTarget> &cloud_tgt, const pcl::Indices &indices_tgt);
131
132 /** \brief Set maximum number of correspondence lines which will be rendered. */
133 inline void
134 setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences)
135 {
136 // This method is usually called form other thread than visualizer thread
137 // therefore same visualizer_updating_mutex_ will be used
138
139 // Lock maximum_displayed_correspondences_
140 visualizer_updating_mutex_.lock ();
141
142 // Update maximum_displayed_correspondences_
143 maximum_displayed_correspondences_ = maximum_displayed_correspondences;
144
145 // Unlock maximum_displayed_correspondences_
146 visualizer_updating_mutex_.unlock();
147 }
148
149 /** \brief Return maximum number of correspondence lines which are rendered. */
150 inline std::size_t
152 {
153 return maximum_displayed_correspondences_;
154 }
155
156 private:
157 /** \brief Initialize and run the visualization loop. This function will run in the internal thread viewer_thread_ */
158 void
159 runDisplay ();
160
161 /** \brief Return the string obtained by concatenating a root_name and an id */
162 inline std::string
163 getIndexedName (std::string &root_name, std::size_t &id)
164 {
165 return root_name + std::to_string(id);
166 }
167
168 /** \brief The registration viewer. */
170
171 /** \brief The thread running the runDisplay() function. */
172 std::thread viewer_thread_;
173
174 /** \brief The name of the registration method whose intermediate results are rendered. */
175 std::string registration_method_name_;
176
177 /** \brief Callback function linked to pcl::Registration::update_visualizer_ */
178 std::function<void
179 (const pcl::PointCloud<PointSource> &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud<
180 PointTarget> &cloud_tgt, const pcl::Indices &indices_tgt)> update_visualizer_;
181
182 /** \brief Updates source and target point clouds only for the first update call. */
183 bool first_update_flag_;
184
185 /** \brief The local buffer for source point cloud. */
186 pcl::PointCloud<PointSource> cloud_source_;
187
188 /** \brief The local buffer for target point cloud. */
189 pcl::PointCloud<PointTarget> cloud_target_;
190
191 /** \brief The mutex used for the synchronization of updating and rendering of the local buffers. */
192 std::mutex visualizer_updating_mutex_;
193
194 /** \brief The local buffer for intermediate point cloud obtained during registration process. */
195 pcl::PointCloud<PointSource> cloud_intermediate_;
196
197 /** \brief The indices of intermediate points used for computation of rigid transformation. */
198 pcl::Indices cloud_intermediate_indices_;
199
200 /** \brief The indices of target points used for computation of rigid transformation. */
201 pcl::Indices cloud_target_indices_;
202
203 /** \brief The maximum number of displayed correspondences. */
204 std::size_t maximum_displayed_correspondences_;
205
206 };
207}
208
209#include <pcl/visualization/impl/registration_visualizer.hpp>
Registration represents the base registration class for general purpose, ICP-like methods.
Definition: registration.h:57
bool registerVisualizationCallback(std::function< UpdateVisualizerCallbackSignature > &visualizerCallback)
Register the user callback function which will be called from registration thread in order to update ...
Definition: registration.h:444
const std::string & getClassName() const
Abstract class get name method.
Definition: registration.h:497
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