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...

	~RegistrationVisualizer ()

bool	setRegistration (pcl::Registration< PointSource, PointTarget, Scalar > &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 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. More...

void	setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences)
	Set maximum number of correspondence lines which will be rendered. More...

std::size_t	getMaximumDisplayedCorrespondences ()
	Return maximum number of correspondence lines which are rendered. More...

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

◆ startDisplay()

template<typename PointSource , typename PointTarget , typename Scalar >

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

Start the viewer thread.

Definition at line 48 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 56 of file registration_visualizer.hpp.

Referenced by pcl::RegistrationVisualizer< PointSource, PointTarget, Scalar >::~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 190 of file registration_visualizer.hpp.

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

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