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optimize visualizer

main
feixyz10 2020-10-27 20:13:19 +08:00 committed by feixyz
parent 2ff08e7484
commit efc57b0409
3 changed files with 9 additions and 9 deletions
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12
src/visualizer/base_visualizer.h
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@ -18,7 +18,6 @@ struct VisFrame {
PointCloudPtr cloud = nullptr;
};
template <typename FrameT>
class Visualizer {
public:
Visualizer(const std::string &name, size_t max_history_size)
@ -50,7 +49,7 @@ class Visualizer {
}
}
void Render(const std::shared_ptr<FrameT> &frame) {
void Render(const std::shared_ptr<VisFrame> &frame) {
std::lock_guard<std::mutex> lock(mutex_);
while (history_frames_.size() > max_history_size_) {
history_frames_.pop_back();
@ -78,7 +77,7 @@ class Visualizer {
* @brief Draw objects. This method should be overrided for customization.
*
* virtual void Draw() {
* FrameT frame = GetCurrentFrame();
* VisFrame frame* = GetCurrentFrame();
* { // Update cloud
* std::string id = "point cloud";
* DrawPointCloud(*frame.cloud, {255, 255, 255}, id, viewer_.get());
@ -128,9 +127,10 @@ class Visualizer {
viewer_->removeAllShapes();
}
template <typename FrameT>
FrameT GetCurrentFrame() const {
std::lock_guard<std::mutex> lock(mutex_);
return *(*curr_frame_iter_);
return *static_cast<FrameT *>((*curr_frame_iter_).get());
}
// visualizer name
@ -147,10 +147,10 @@ class Visualizer {
std::atomic_bool is_updated_{false};
// The visualizer frame list
std::deque<std::shared_ptr<FrameT>> history_frames_;
std::deque<std::shared_ptr<VisFrame>> history_frames_;
// The current displayed frame iter.
typename std::deque<std::shared_ptr<FrameT>>::const_iterator curr_frame_iter_;
typename std::deque<std::shared_ptr<VisFrame>>::iterator curr_frame_iter_;
// The rendered cloud ids.
std::vector<std::string> rendered_cloud_ids_;

2
src/visualizer/extractor_visualizer.cc
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@ -3,7 +3,7 @@
namespace oh_my_loam {
void ExtractorVisualizer::Draw() {
auto frame = GetCurrentFrame();
auto frame = GetCurrentFrame<ExtractorVisFrame>();
{ // add raw point cloud
std::string id = "raw point cloud";
DrawPointCloud(*frame.cloud, WHITE, id, viewer_.get());

4
src/visualizer/extractor_visualizer.h
View File

@ -9,11 +9,11 @@ struct ExtractorVisFrame : public VisFrame {
FeaturePoints feature_pts;
};
class ExtractorVisualizer : public Visualizer<ExtractorVisFrame> {
class ExtractorVisualizer : public Visualizer {
public:
explicit ExtractorVisualizer(const std::string &name = "ExtractorVisualizer",
size_t max_history_size = 10)
: Visualizer<ExtractorVisFrame>(name, max_history_size) {}
: Visualizer(name, max_history_size) {}
private:
void Draw() override;