\brief Visual update. Create visualizations and add them to the viewer * */
| 254 | * |
| 255 | */ |
| 256 | void update() |
| 257 | { |
| 258 | //remove existing shapes from visualizer |
| 259 | clearView (); |
| 260 | |
| 261 | showLegend (); |
| 262 | |
| 263 | if (show_cubes_) |
| 264 | { |
| 265 | //show octree as cubes |
| 266 | showCubes (std::sqrt (octree.getVoxelSquaredSideLen (displayedDepth))); |
| 267 | } |
| 268 | |
| 269 | if (show_centroids_) |
| 270 | { |
| 271 | //show centroid points |
| 272 | pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler (cloudVoxel, "x"); |
| 273 | viz.addPointCloud (cloudVoxel, color_handler, "cloud_centroid"); |
| 274 | viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size_, "cloud_centroid"); |
| 275 | } |
| 276 | |
| 277 | if (show_original_points_) |
| 278 | { |
| 279 | //show origin point cloud |
| 280 | pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler (cloud, "z"); |
| 281 | viz.addPointCloud (cloud, color_handler, "cloud"); |
| 282 | viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size_, "cloud"); |
| 283 | } |
| 284 | } |
| 285 | |
| 286 | /* \brief remove dynamic objects from the viewer |
| 287 | * |
no test coverage detected