pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar > Class Template Reference

RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by the source point cloud during it's registration to the target point cloud. More...

#include <pcl/visualization/registration_visualizer.h>

Public Member Functions
	RegistrationVisualizer ()
	Empty constructor.
	~RegistrationVisualizer ()
bool	setRegistration (pcl::Registration< PointSource, PointTarget, Scalar > &registration)
	Set the registration algorithm whose intermediate steps will be rendered.
void	startDisplay ()
	Start the viewer thread.
void	stopDisplay ()
	Stop the viewer thread.
void	updateIntermediateCloud (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt)
	Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices with the newest registration intermediate results.
void	setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences)
	Set maximum number of correspondence lines which will be rendered.
std::size_t	getMaximumDisplayedCorrespondences ()
	Return maximum number of correspondence lines which are rendered.

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >

RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by the source point cloud during it's registration to the target point cloud.

A registration algorithm is considered as input and it's convergence is rendered.

Author

Gheorghe Lisca

Definition at line 57 of file registration_visualizer.h.

Constructor & Destructor Documentation

RegistrationVisualizer()

template<typename PointSource, typename PointTarget, typename Scalar = float>

pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::RegistrationVisualizer ( )

inline

Empty constructor.

Definition at line 62 of file registration_visualizer.h.

~RegistrationVisualizer()

template<typename PointSource, typename PointTarget, typename Scalar = float>

pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::~RegistrationVisualizer ( )

inline

Definition at line 69 of file registration_visualizer.h.

References stopDisplay().

Member Function Documentation

getMaximumDisplayedCorrespondences()

template<typename PointSource, typename PointTarget, typename Scalar = float>

std::size_t pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::getMaximumDisplayedCorrespondences ( )

inline

Return maximum number of correspondence lines which are rendered.

Definition at line 149 of file registration_visualizer.h.

setMaximumDisplayedCorrespondences()

template<typename PointSource, typename PointTarget, typename Scalar = float>

void pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::setMaximumDisplayedCorrespondences ( const int maximum_displayed_correspondences )

inline

Set maximum number of correspondence lines which will be rendered.

Definition at line 132 of file registration_visualizer.h.

setRegistration()

template<typename PointSource, typename PointTarget, typename Scalar = float>

bool pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::setRegistration ( pcl::Registration< PointSource, PointTarget, Scalar > & registration )

inline

Set the registration algorithm whose intermediate steps will be rendered.

The method creates the local callback function pcl::RegistrationVisualizer::update_visualizer_ and binds it to the local buffers update function pcl::RegistrationVisualizer::updateIntermediateCloud(). The local callback function pcl::RegistrationVisualizer::update_visualizer_ is then linked to the pcl::Registration::update_visualizer_ callback function.

Parameters

registration

represents the registration method whose intermediate steps will be rendered.

Definition at line 82 of file registration_visualizer.h.

References updateIntermediateCloud().

startDisplay()

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::startDisplay

(

)

Start the viewer thread.

Definition at line 49 of file registration_visualizer.hpp.

stopDisplay()

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::stopDisplay

(

)

Stop the viewer thread.

Definition at line 57 of file registration_visualizer.hpp.

Referenced by ~RegistrationVisualizer().

updateIntermediateCloud()

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::updateIntermediateCloud	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::Indices &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Indices &	indices_tgt )

Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices with the newest registration intermediate results.

Parameters

cloud_src	represents the initial source point cloud
indices_src	represents the indices of the intermediate source points used for the estimation of rigid transformation
cloud_tgt	represents the target point cloud
indices_tgt	represents the indices of the target points used for the estimation of rigid transformation

Definition at line 191 of file registration_visualizer.hpp.

Referenced by setRegistration().

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The documentation for this class was generated from the following files:

• pcl/visualization/registration_visualizer.h
• pcl/visualization/impl/registration_visualizer.hpp