/* \brief Visual update. Create visualizations and add them to the viewer
*
*/
void update()
{
//remove existing shapes from visualizer
clearView();
//prevent the display of too many cubes
bool displayCubeLegend = displayCubes && static_cast<int> (displayCloud->points.size ()) <= MAX_DISPLAYED_CUBES;
showLegend(displayCubeLegend);
if (displayCubeLegend)
{
//show octree as cubes
showCubes(sqrt(octree.getVoxelSquaredSideLen(displayedDepth)));
if (showPointsWithCubes)
{
//add original cloud in visualizer
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler(cloud, "z");
viz.addPointCloud(cloud, color_handler, "cloud");
}
}
else
{
//add current cloud in visualizer
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler(displayCloud,"z");
viz.addPointCloud(displayCloud, color_handler, "cloud");
}
}
/* \brief Helper function that draw info for the user on the viewer
*
*/
void showLegend(bool showCubes)
{
char dataDisplay[256];
sprintf(dataDisplay, "Displaying data as %s", (showCubes) ? ("CUBES") : ("POINTS"));
viz.removeShape("disp_t");
viz.addText(dataDisplay, 0, 60, 1.0, 0.0, 0.0, "disp_t");
char level[256];
sprintf(level, "Displayed depth is %d on %d", displayedDepth, octree.getTreeDepth());
viz.removeShape("level_t1");
viz.addText(level, 0, 45, 1.0, 0.0, 0.0, "level_t1");
viz.removeShape("level_t2");
sprintf(level, "Voxel size: %.4fm [%lu voxels]", sqrt(octree.getVoxelSquaredSideLen(displayedDepth)),
displayCloud->points.size());
viz.addText(level, 0, 30, 1.0, 0.0, 0.0, "level_t2");
viz.removeShape("org_t");
if (showPointsWithCubes)
viz.addText("Displaying original cloud", 0, 15, 1.0, 0.0, 0.0, "org_t");
}