使用 PCL 的浊点可视化流

2022-01-09 00:00:00 computer-vision graphics c++ point-cloud-library

我正在对 RGB 和深度数据进行一些处理并构建要可视化的云点，我目前使用 PCL Visualizer，它工作正常.我想将可视化器放在不同的线程中(实时，因此它会重绘全局云点，我尝试了 boost 线程，但出现运行时错误VTK bad lookup table"

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. 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"

有人知道如何在不同的线程中可视化云点流吗?

Anyone knows how to visualize stream of cloud points in a different thread ?

推荐答案

好的，我现在可以使用它了，也许我之前做错了什么，这是我使用 boost 线程和互斥锁的方法

OK, I got it to work now, maybe I did something wrong before, here is how I did it using boost threads and mutex

    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();  
    }

更新:

根据这个页面的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

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

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