Point Cloud Library (PCL)  1.9.1-dev
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pcl::RegistrationVisualizer< PointSource, PointTarget > 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. More...
 
bool setRegistration (pcl::Registration< PointSource, PointTarget > &registration)
 Set the registration algorithm whose intermediate steps will be rendered. More...
 
void startDisplay ()
 Start the viewer thread. More...
 
void stopDisplay ()
 Stop the viewer thread. More...
 
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. More...
 
void setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences)
 Set maximum number of correspondence lines which will be rendered. More...
 
size_t getMaximumDisplayedCorrespondences ()
 Return maximum number of correspondence lines which are rendered. More...
 

Detailed Description

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

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

Empty constructor.

Definition at line 62 of file registration_visualizer.h.

Member Function Documentation

◆ getMaximumDisplayedCorrespondences()

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

Return maximum number of correspondence lines which are rendered.

Definition at line 146 of file registration_visualizer.h.

◆ setMaximumDisplayedCorrespondences()

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

Set maximum number of correspondence lines which will be rendered.

Definition at line 129 of file registration_visualizer.h.

◆ setRegistration()

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 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
registrationrepresents the registration method whose intermediate steps will be rendered.

Definition at line 79 of file registration_visualizer.h.

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

◆ startDisplay()

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

Start the viewer thread.

Definition at line 43 of file registration_visualizer.hpp.

Referenced by pcl::RegistrationVisualizer< PointSource, PointTarget >::setRegistration().

◆ stopDisplay()

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

Stop the viewer thread.

Definition at line 51 of file registration_visualizer.hpp.

Referenced by pcl::RegistrationVisualizer< PointSource, PointTarget >::setRegistration().

◆ updateIntermediateCloud()

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 indices of the intermediate source points used for the estimation of rigid transformation
cloud_tgtrepresents the target point cloud
indices_tgtrepresents the indices of the target points used for the estimation of rigid transformation

Definition at line 184 of file registration_visualizer.hpp.

Referenced by pcl::RegistrationVisualizer< PointSource, PointTarget >::setRegistration().


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