39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
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#include "extractor_visualizer.h"
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namespace oh_my_loam {
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void ExtractorVisualizer::Draw() {
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auto frame = GetCurrentFrame();
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{ // add raw point cloud
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std::string id = "raw point cloud";
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DrawPointCloud(*frame.cloud, WHITE, id, viewer_.get());
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rendered_cloud_ids_.push_back(id);
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}
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{ // add less_flat_surf_pts
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std::string id = "less_flat_surf_pts";
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DrawPointCloud(*frame.feature_pts.less_flat_surf_pts, CYAN, id,
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viewer_.get(), 5);
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rendered_cloud_ids_.push_back(id);
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}
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{ // add flat_surf_pts
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std::string id = "flat_surf_pts";
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DrawPointCloud(*frame.feature_pts.flat_surf_pts, BLUE, id, viewer_.get(),
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7);
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rendered_cloud_ids_.push_back(id);
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}
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{ // add less_sharp_corner_pts
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std::string id = "less_sharp_corner_pts";
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DrawPointCloud(*frame.feature_pts.less_sharp_corner_pts, PURPLE, id,
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viewer_.get(), 5);
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rendered_cloud_ids_.push_back(id);
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}
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{ // add sharp_corner_pts
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std::string id = "sharp_corner_pts";
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DrawPointCloud(*frame.feature_pts.sharp_corner_pts, RED, id, viewer_.get(),
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7);
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rendered_cloud_ids_.push_back(id);
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}
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};
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} // namespace oh_my_loam
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