I could not get registration_visualizer class to work. I copied the files in my working
directory to allow me to debut. Error occurs on spinOnce. Perhaps try on Ubuntu.
ia_ransac_vis.* : subclass of ia_ransac* created to overcome the problem of the
registration visualization callback not functionning. I will introduce a new function
called visualize(), and call it from computeTransformation(), which is a slightly
enhanced copy of the corresponding virtual function in ia_ransac.
Code Development.
Visualizer: my own subclass. Does not compile.
Working on registration visualizer that will work on the mac. Difficult problem. Compiles. Problems with execution.
Visualizer actually works. Print the "q" key to exit an interative visualization window.
In *_vis.hpp, there is a visualizer method.
This method displays the correspondances used to establish the registration using ransac. Right now, I only draw
the original clouds. I will redo this by drawing the target cloud, and the input cloud transformed to the target cloud.
See what happens.
Dynamic visualization is working, but I am not convinced the code is working correctly.
Must look at computation of transformation more accurately. Perhaps convergence is not implemented
properly?
forgotten file.
Working on visualizer for manual registration. Difficulty is that the visualizer
is in a thread.
Forgotten file.
Try to register two clouds manually by interactive rotation to get a coarse
initial position.
manual_registration now produces plots. I have no idea why I got an assert error earlier.
New code to do manual registration. Pressing buttons/spinboxes will move
and rotate one cloud with respect to another. Under development.
Forgotten files.
ToDO: make widgets narrower, and smaller (to take less space).
Use stretch factor.

Make keys interactive: change the SIGNALS used.
Must still implement the transformation and mapping between the qt
buttons and the transformation matrices. We'll start with translation.
Note: transformation is always from the original cloud (reduces errors).
Problems with rotation (translation seems to work), although slider bars would work better for the
interface.

The interface needs a "ge_icp" button, once translation maximizes overlap.
I would also need a way to identify points of overlap.
For each point of cloud 1, compute nearest distance to cloud 2 and remove points whose distance
is greater than 0.05 (5 cm).

So I need two buttons: "crop" and "do_icp"
Runs on pcl1.7 on troi. Removed libpcl_geometry from CMakeLists.txt
Runs and compiles on troi (Ubuntu).
I must click on run Manual each time I make a change to the Qt interface (works differently on the mac).
Will investigate, again, putting visualization in a separate thread.
threaded visualizer does not work. Why not?
Does not display anything. It should. Will check cloud sizes before draw merged.
Threaded visualization crashes on the mac. Try on Ubuntu.