Point Cloud Library (PCL)  1.3.1
Public Member Functions
pcl::RegistrationVisualizer Class 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

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

Constructor & Destructor Documentation

pcl::RegistrationVisualizer::RegistrationVisualizer ( ) [inline]

Empty constructor.

Definition at line 65 of file registration_visualizer.h.


Member Function Documentation

size_t pcl::RegistrationVisualizer::getMaximumDisplayedCorrespondences ( ) [inline]

Return maximum number of corresponcence lines which are rendered.

Definition at line 140 of file registration_visualizer.h.

void pcl::RegistrationVisualizer::setMaximumDisplayedCorrespondences ( const int  maximum_displayed_correspondences) [inline]

Set maximum number of corresponcence lines whch will be rendered.

Definition at line 123 of file registration_visualizer.h.

bool pcl::RegistrationVisualizer::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 76 of file registration_visualizer.h.

void pcl::RegistrationVisualizer::startDisplay ( )

Start the viewer thread.

Definition at line 40 of file registration_visualizer.hpp.

void pcl::RegistrationVisualizer::stopDisplay ( )

Stop the viewer thread.

Definition at line 48 of file registration_visualizer.hpp.

void pcl::RegistrationVisualizer::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 181 of file registration_visualizer.hpp.


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