41 #include <pcl/registration/registration.h>
42 #include <pcl/visualization/pcl_visualizer.h>
56 template<
typename Po
intSource,
typename Po
intTarget>
63 update_visualizer_ (),
64 first_update_flag_ (),
67 cloud_intermediate_ (),
68 maximum_displayed_correspondences_ (0)
97 visualizer_updating_mutex_.lock ();
99 first_update_flag_ =
false;
101 visualizer_updating_mutex_.unlock ();
135 visualizer_updating_mutex_.lock ();
138 maximum_displayed_correspondences_ = maximum_displayed_correspondences;
141 visualizer_updating_mutex_.unlock();
148 return maximum_displayed_correspondences_;
158 getIndexedName (std::string &root_name, std::size_t &
id)
160 std::stringstream id_stream_;
162 std::string indexed_name_ = root_name + id_stream_.str ();
163 return indexed_name_;
170 std::thread viewer_thread_;
173 std::string registration_method_name_;
178 PointTarget> &cloud_tgt,
const std::vector<int> &indices_tgt)> update_visualizer_;
181 bool first_update_flag_;
190 std::mutex visualizer_updating_mutex_;
196 std::vector<int> cloud_intermediate_indices_;
199 std::vector<int> cloud_target_indices_;
202 std::size_t maximum_displayed_correspondences_;
207 #include <pcl/visualization/impl/registration_visualizer.hpp>