我有一个线程可以在我正在处理它时可视化一个pointcloud。 我还需要对法线进行可视化,如何更新它们?
我找不到像正常云一样的updateClouds。
void pclVisualizerThread::operator()()
{
// prepare visualizer named "viewer"
while (!viewer_->wasStopped ())
{
viewer_->spinOnce (100);
// Get lock on the boolean update and check if cloud was updated
boost::mutex::scoped_lock updateLock(*(updateModelMutex_.get()));
if((*update_))
{
// I NEED ALSO TO UPDATE THE NORMALS
if(!viewer_->updatePointCloud(cloud_, "Triangulated points"))
{
viewer_->addPointCloud<pcl::PointXYZRGB>(cloud_, *rgb_, "Triangulated points");
viewer_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Triangulated points");
}
(*update_) = false;
}
updateLock.unlock();
}
}
提前致谢。
答案 0 :(得分:2)
这样做的方法是删除普通的云并再次添加:
void pclVisualizerThread::operator()()
{
// prepare visualizer named "viewer"
while (!viewer_->wasStopped ())
{
viewer_->spinOnce (100);
// Get lock on the boolean update and check if cloud was updated
boost::mutex::scoped_lock updateLock(*(updateModelMutex_.get()));
if((*update_))
{
if(!viewer_->updatePointCloud(cloud_, "Triangulated points"))
{
viewer_->addPointCloud<pcl::PointXYZRGB>(cloud_, *rgb_, "Triangulated points");
viewer_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Triangulated points");
}
viewer_->removePointCloud("normals", 0);
viewer_->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud_, normals_, 150, 0.35, "normals");
(*update_) = false;
}
updateLock.unlock();
}
}