12345qiupeng
/
oh_my_loam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/visualizer/base_visualizer.h
View File

@ -18,7 +18,6 @@ struct VisFrame {
PointCloudPtr cloud = nullptr; PointCloudPtr cloud = nullptr;
}; };
template <typename FrameT>
class Visualizer { class Visualizer {
public: public:
Visualizer(const std::string &name, size_t max_history_size) 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_); std::lock_guard<std::mutex> lock(mutex_);
while (history_frames_.size() > max_history_size_) { while (history_frames_.size() > max_history_size_) {
history_frames_.pop_back(); history_frames_.pop_back();
@ -78,7 +77,7 @@ class Visualizer {
* @brief Draw objects. This method should be overrided for customization. * @brief Draw objects. This method should be overrided for customization.
* *
* virtual void Draw() { * virtual void Draw() {
* FrameT frame = GetCurrentFrame(); * VisFrame frame* = GetCurrentFrame();
* { // Update cloud * { // Update cloud
* std::string id = "point cloud"; * std::string id = "point cloud";
* DrawPointCloud(*frame.cloud, {255, 255, 255}, id, viewer_.get()); * DrawPointCloud(*frame.cloud, {255, 255, 255}, id, viewer_.get());
@ -128,9 +127,10 @@ class Visualizer {
viewer_->removeAllShapes(); viewer_->removeAllShapes();
} }
template <typename FrameT>
FrameT GetCurrentFrame() const { FrameT GetCurrentFrame() const {
std::lock_guard<std::mutex> lock(mutex_); std::lock_guard<std::mutex> lock(mutex_);
return *(*curr_frame_iter_); return *static_cast<FrameT *>((*curr_frame_iter_).get());
} }
// visualizer name // visualizer name
@ -147,10 +147,10 @@ class Visualizer {
std::atomic_bool is_updated_{false}; std::atomic_bool is_updated_{false};
// The visualizer frame list // 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. // 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. // The rendered cloud ids.
std::vector<std::string> rendered_cloud_ids_; std::vector<std::string> rendered_cloud_ids_;

2
src/visualizer/extractor_visualizer.cc
View File

@ -3,7 +3,7 @@
namespace oh_my_loam { namespace oh_my_loam {
void ExtractorVisualizer::Draw() { void ExtractorVisualizer::Draw() {
auto frame = GetCurrentFrame(); auto frame = GetCurrentFrame<ExtractorVisFrame>();
{ // add raw point cloud { // add raw point cloud
std::string id = "raw point cloud"; std::string id = "raw point cloud";
DrawPointCloud(*frame.cloud, WHITE, id, viewer_.get()); 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; FeaturePoints feature_pts;
}; };
class ExtractorVisualizer : public Visualizer<ExtractorVisFrame> { class ExtractorVisualizer : public Visualizer {
public: public:
explicit ExtractorVisualizer(const std::string &name = "ExtractorVisualizer", explicit ExtractorVisualizer(const std::string &name = "ExtractorVisualizer",
size_t max_history_size = 10) size_t max_history_size = 10)
: Visualizer<ExtractorVisFrame>(name, max_history_size) {} : Visualizer(name, max_history_size) {}
private: private:
void Draw() override; void Draw() override;