| 262 | } |
| 263 | |
| 264 | void |
| 265 | TrajectoryRegistration::visualizeClouds (std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr > cloud_vector, |
| 266 | std::string viewer_name, bool spin_flag) |
| 267 | { |
| 268 | pcl::visualization::PCLVisualizer viewer (viewer_name); |
| 269 | viewer.setCameraPosition(4.85038, 0.777564, 23.63, 0.0101831, 0.998897, -0.0458376); |
| 270 | for(std::map<std::string, int>::iterator colormap_iterator = color_map_.begin(); colormap_iterator != color_map_.end(); colormap_iterator++) |
| 271 | { |
| 272 | pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud_vector[colormap_iterator->second]); |
| 273 | viewer.addPointCloud<pcl::PointXYZRGB> (cloud_vector[colormap_iterator->second], rgb, colormap_iterator->first); |
| 274 | viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, colormap_iterator->first); |
| 275 | viewer.spinOnce(); |
| 276 | } |
| 277 | if (spin_flag) |
| 278 | viewer.spin(); |
| 279 | } |
| 280 | |
| 281 | void |
| 282 | TrajectoryRegistration::visualizeFinalRegistration (std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr >& cloud_vector, |