Point Cloud Library (PCL)  1.7.0
Public Member Functions
pcl::RegistrationVisualizer< PointSource, PointTarget > Class Template Reference

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

#include <pcl/visualization/registration_visualizer.h>

List of all members.

Public Member Functions

 RegistrationVisualizer ()
 Empty constructor.
bool setRegistration (pcl::Registration< PointSource, PointTarget > &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 std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &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 corresponcence lines whch will be rendered.
size_t getMaximumDisplayedCorrespondences ()
 Return maximum number of corresponcence lines which are rendered.

Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::RegistrationVisualizer< PointSource, PointTarget >

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

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

Author:
Gheorghe Lisca

Definition at line 55 of file registration_visualizer.h.


Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >
pcl::RegistrationVisualizer< PointSource, PointTarget >::RegistrationVisualizer ( ) [inline]

Empty constructor.

Definition at line 60 of file registration_visualizer.h.


Member Function Documentation

template<typename PointSource , typename PointTarget >
size_t pcl::RegistrationVisualizer< PointSource, PointTarget >::getMaximumDisplayedCorrespondences ( ) [inline]

Return maximum number of corresponcence lines which are rendered.

Definition at line 147 of file registration_visualizer.h.

template<typename PointSource , typename PointTarget >
void pcl::RegistrationVisualizer< PointSource, PointTarget >::setMaximumDisplayedCorrespondences ( const int  maximum_displayed_correspondences) [inline]

Set maximum number of corresponcence lines whch will be rendered.

Definition at line 130 of file registration_visualizer.h.

template<typename PointSource , typename PointTarget >
bool pcl::RegistrationVisualizer< PointSource, PointTarget >::setRegistration ( pcl::Registration< PointSource, PointTarget > &  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 biffers 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:
registrationrepresents the registration method whose intermediate steps will be rendered.

Definition at line 83 of file registration_visualizer.h.

References pcl::Registration< PointSource, PointTarget, Scalar >::getClassName(), and pcl::Registration< PointSource, PointTarget, Scalar >::registerVisualizationCallback().

template<typename PointSource , typename PointTarget >
void pcl::RegistrationVisualizer< PointSource, PointTarget >::startDisplay ( )

Start the viewer thread.

Definition at line 41 of file registration_visualizer.hpp.

template<typename PointSource , typename PointTarget >
void pcl::RegistrationVisualizer< PointSource, PointTarget >::stopDisplay ( )

Stop the viewer thread.

Definition at line 49 of file registration_visualizer.hpp.

template<typename PointSource , typename PointTarget >
void pcl::RegistrationVisualizer< PointSource, PointTarget >::updateIntermediateCloud ( const pcl::PointCloud< PointSource > &  cloud_src,
const std::vector< int > &  indices_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const std::vector< int > &  indices_tgt 
)

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

Parameters:
cloud_srcrepresents the initial source point cloud
indices_srcrepresents the incices of the intermediate source points used for the estimation of rigid transformation
cloud_tgtrepresents the target point cloud
indices_tgtrepresents the incices of the target points used for the estimation of rigid transformation

Definition at line 182 of file registration_visualizer.hpp.


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