c++ - PCL：如何更新 pcl::visualizer 中的法线云？

Question

我有一个线程可以在我处理它时可视化点云。我还需要可视化法线，如何更新它们？

对于普通云，我找不到像 updateClouds 这样的东西。

void pclVisualizerThread::operator()()
{
    // 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_.get()));
        if((*update_))
        {
            // I NEED ALSO TO UPDATE THE NORMALS
            if(!viewer_->updatePointCloud(cloud_, "Triangulated points"))
            {
                viewer_->addPointCloud<pcl::PointXYZRGB>(cloud_, *rgb_, "Triangulated points");
                viewer_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Triangulated points");
            }

            (*update_) = false;
        }
        updateLock.unlock();

    }   
} 

提前致谢。

Answer 1

一种方法是删除法线的云并再次添加：

void pclVisualizerThread::operator()()
{
    // 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_.get()));
        if((*update_))
        {
            if(!viewer_->updatePointCloud(cloud_, "Triangulated points"))
            {
                viewer_->addPointCloud<pcl::PointXYZRGB>(cloud_, *rgb_, "Triangulated points");
                viewer_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Triangulated points");
            }
            viewer_->removePointCloud("normals", 0);
            viewer_->addPointCloudNormals<pcl::PointXYZRGB, pcl::Normal> (cloud_, normals_, 150, 0.35, "normals");
            (*update_) = false;
        }
        updateLock.unlock();

    }   
}