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 |
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| RegistrationVisualizer () | |
| Empty constructor. More... |
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| bool | setRegistration (pcl::Registration< PointSource, PointTarget > ®istration) |
| Set the registration algorithm whose intermediate steps will be rendered. More... |
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| void | startDisplay () |
| Start the viewer thread. More... |
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| void | stopDisplay () |
| Stop the viewer thread. More... |
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| 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... |
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| void | setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences) |
| Set maximum number of correspondence lines which will be rendered. More... |
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| std::size_t | getMaximumDisplayedCorrespondences () |
| Return maximum number of correspondence lines which are rendered. More... |
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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.
Definition at line 57 of file registration_visualizer.h.
Constructor & Destructor Documentation
RegistrationVisualizer()
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inline |
Empty constructor.
Definition at line 62 of file registration_visualizer.h.
Member Function Documentation
getMaximumDisplayedCorrespondences()
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inline |
Return maximum number of correspondence lines which are rendered.
Definition at line 146 of file registration_visualizer.h.
setMaximumDisplayedCorrespondences()
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inline |
Set maximum number of correspondence lines which will be rendered.
Definition at line 129 of file registration_visualizer.h.
setRegistration()
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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
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registration represents 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(), and pcl::RegistrationVisualizer< PointSource, PointTarget >::updateIntermediateCloud().
startDisplay()
| void pcl::RegistrationVisualizer< PointSource, PointTarget >::startDisplay |
Start the viewer thread.
Definition at line 48 of file registration_visualizer.hpp.
stopDisplay()
| void pcl::RegistrationVisualizer< PointSource, PointTarget >::stopDisplay |
Stop the viewer thread.
Definition at line 56 of file registration_visualizer.hpp.
updateIntermediateCloud()
| 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
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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 188 of file registration_visualizer.hpp.
Referenced by pcl::RegistrationVisualizer< PointSource, PointTarget >::setRegistration().
The documentation for this class was generated from the following files:
- pcl/visualization/registration_visualizer.h
- pcl/visualization/impl/registration_visualizer.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_registration_visualizer.html
