inline void
pcl::registration::getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
{
if (correspondences.empty ())
return;
double sum = 0, sq_sum = 0;
for (size_t i = 0; i < correspondences.size (); ++i)
{
sum += correspondences[i].distance;
sq_sum += correspondences[i].distance * correspondences[i].distance;
}
mean = sum / static_cast<double> (correspondences.size ());
double variance = (sq_sum - sum * sum / static_cast<double> (correspondences.size ())) / static_cast<double> (correspondences.size () - 1);
stddev = sqrt (variance);
}
template <typename PointT> bool
pcl::visualization::ImageViewer::showCorrespondences (
const pcl::PointCloud<PointT> &source_img,
const pcl::PointCloud<PointT> &target_img,
const pcl::Correspondences &correspondences,
int nth,
const std::string &layer_id)
{
if (correspondences.empty ())
{
PCL_DEBUG ("[pcl::visualization::ImageViewer::addCorrespondences] An empty set of correspondences given! Nothing to display.\n");
return (false);
}
// Check to see if this ID entry already exists (has it been already added to the visualizer?)
LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
if (am_it == layer_map_.end ())
{
PCL_DEBUG ("[pcl::visualization::ImageViewer::addCorrespondences] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
am_it = createLayer (layer_id, source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1.0, false);
}
int src_size = source_img.width * source_img.height * 3;
int tgt_size = target_img.width * target_img.height * 3;
// Set window size
setSize (source_img.width + target_img.width , std::max (source_img.height, target_img.height));
// Set data size
if (data_size_ < (src_size + tgt_size))
{
data_size_ = src_size + tgt_size;
data_.reset (new unsigned char[data_size_]);
}
// Copy data in VTK format
int j = 0;
for (size_t i = 0; i < std::max (source_img.height, target_img.height); ++i)
{
// Still need to copy the source?
if (i < source_img.height)
{
for (size_t k = 0; k < source_img.width; ++k)
{
data_[j++] = source_img[i * source_img.width + k].r;
data_[j++] = source_img[i * source_img.width + k].g;
data_[j++] = source_img[i * source_img.width + k].b;
}
}
else
{
memcpy (&data_[j], 0, source_img.width * 3);
j += source_img.width * 3;
}
// Still need to copy the target?
if (i < source_img.height)
{
for (size_t k = 0; k < target_img.width; ++k)
{
data_[j++] = target_img[i * source_img.width + k].r;
data_[j++] = target_img[i * source_img.width + k].g;
data_[j++] = target_img[i * source_img.width + k].b;
}
}
else
{
memcpy (&data_[j], 0, target_img.width * 3);
j += target_img.width * 3;
}
}
void* data = const_cast<void*> (reinterpret_cast<const void*> (data_.get ()));
vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
image->SetDimensions (source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1);
image->SetScalarTypeToUnsignedChar ();
image->SetNumberOfScalarComponents (3);
image->AllocateScalars ();
image->GetPointData ()->GetScalars ()->SetVoidArray (data, data_size_, 1);
vtkSmartPointer<PCLContextImageItem> image_item = vtkSmartPointer<PCLContextImageItem>::New ();
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION < 10))
// Now create filter and set previously created transformation
algo_->SetInput (image);
algo_->Update ();
image_item->set (0, 0, algo_->GetOutput ());
#else
image_item->set (0, 0, image);
interactor_style_->adjustCamera (image, ren_);
#endif
am_it->actor->GetScene ()->AddItem (image_item);
image_viewer_->SetSize (image->GetDimensions ()[0], image->GetDimensions ()[1]);
// Draw lines between the best corresponding points
for (size_t i = 0; i < correspondences.size (); i += nth)
{
double r, g, b;
getRandomColors (r, g, b);
unsigned char u_r = static_cast<unsigned char> (255.0 * r);
unsigned char u_g = static_cast<unsigned char> (255.0 * g);
unsigned char u_b = static_cast<unsigned char> (255.0 * b);
vtkSmartPointer<context_items::Circle> query_circle = vtkSmartPointer<context_items::Circle>::New ();
query_circle->setColors (u_r, u_g, u_b);
vtkSmartPointer<context_items::Circle> match_circle = vtkSmartPointer<context_items::Circle>::New ();
match_circle->setColors (u_r, u_g, u_b);
vtkSmartPointer<context_items::Line> line = vtkSmartPointer<context_items::Line>::New ();
line->setColors (u_r, u_g, u_b);
float query_x = correspondences[i].index_query % source_img.width;
float match_x = correspondences[i].index_match % target_img.width + source_img.width;
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
float query_y = correspondences[i].index_query / source_img.width;
float match_y = correspondences[i].index_match / target_img.width;
#else
float query_y = getSize ()[1] - correspondences[i].index_query / source_img.width;
float match_y = getSize ()[1] - correspondences[i].index_match / target_img.width;
#endif
query_circle->set (query_x, query_y, 3.0);
match_circle->set (match_x, match_y, 3.0);
line->set (query_x, query_y, match_x, match_y);
am_it->actor->GetScene ()->AddItem (query_circle);
am_it->actor->GetScene ()->AddItem (match_circle);
am_it->actor->GetScene ()->AddItem (line);
}
return (true);
}
