Point Cloud Library (PCL) 1.12.0
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List of all members | Public Member Functions
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.
 
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 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>
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 >
std::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::RegistrationVisualizer< PointSource, PointTarget >::updateIntermediateCloud().

◆ startDisplay()

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

Start the viewer thread.

Definition at line 48 of file registration_visualizer.hpp.

◆ stopDisplay()

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

Stop the viewer thread.

Definition at line 56 of file registration_visualizer.hpp.

◆ updateIntermediateCloud()

template<typename PointSource , typename PointTarget >
void pcl::RegistrationVisualizer< PointSource, PointTarget >::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_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 188 of file registration_visualizer.hpp.

References pcl::ConstCloudIterator< PointT >::ConstCloudIterator().

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


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