[英]Stream of Cloud Point Visualization using PCL
I am doing some processing on RGB and Depth data and constructing cloud points that are to be visualized, I currently use PCL Visualizer and it works fine. 我正在对RGB和深度数据进行一些处理并构建可视化的云点,我目前使用PCL Visualizer并且它工作正常。 I want to have the visualizer in a different thread (real time so it will redraw the global cloud point, I tried boost threads but I get a runtime error "VTK bad lookup table" 我希望将可视化工具放在不同的线程中(实时,因此它将重绘全局云点,我尝试了提升线程,但我得到了运行时错误“VTK坏查找表”
Anyone knows how to visualize stream of cloud points in a different thread ? 任何人都知道如何在不同的线程中可视化云点流?
OK, I got it to work now, maybe I did something wrong before, here is how I did it using boost threads and mutex 好吧,我现在就开始工作了,也许我之前做错了,这就是我使用boost thread和mutex的方法
bool update;
boost::mutex updateModelMutex;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
void visualize()
{
// 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);
if(update)
{
if(!viewer->updatePointCloud(cloud, "sample cloud"))
viewer->addPointCloud(cloud, colorHandler, "sample cloud");
update = false;
}
updateLock.unlock();
}
}
int main()
{
//Start visualizer thread
boost::thread workerThread(visualize);
while(notFinishedProcessing)
{
boost::mutex::scoped_lock updateLock(updateModelMutex);
update = true;
// do processing on cloud
updateLock.unlock();
}
workerThread.join();
}
UPDATE: 更新:
According to this page The reason is that adding an empty point cloud to the visualizer causes things to go crazy so I edited the code above 根据这个页面 ,原因是向可视化器添加一个空点云会导致事情变得疯狂,所以我编辑了上面的代码
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