Public Member Functions | Private Member Functions | Private Attributes
pcl::RegistrationVisualizer< PointSource, PointTarget > Class Template 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. A registration algorithm is considered as input and it's covergence is rendered. More...

#include <registration_visualizer.h>

List of all members.

Public Member Functions

size_t getMaximumDisplayedCorrespondences ()
 Return maximum number of corresponcence lines which are rendered.
 RegistrationVisualizer ()
 Empty constructor.
void setMaximumDisplayedCorrespondences (const int maximum_displayed_correspondences)
 Set maximum number of corresponcence lines whch will be rendered.
bool setRegistration (pcl::Registration< PointSource, PointTarget > &registration)
 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.
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.

Private Member Functions

std::string getIndexedName (std::string &root_name, size_t &id)
 Return the string obtained by concatenating a root_name and an id.
void runDisplay ()
 Initialize and run the visualization loop. This function will be runned in the internal thread viewer_thread_.

Private Attributes

pcl::PointCloud< PointSource > cloud_intermediate_
 The local buffer for intermediate point cloud obtained during registration process.
std::vector< int > cloud_intermediate_indices_
 The indices of intermediate points used for computation of rigid transformation.
pcl::PointCloud< PointSource > cloud_source_
 The local buffer for source point cloud.
pcl::PointCloud< PointTarget > cloud_target_
 The local buffer for target point cloud.
std::vector< int > cloud_target_indices_
 The indices of target points used for computation of rigid transformation.
bool first_update_flag_
 Updates source and target point clouds only for the first update call.
size_t maximum_displayed_correspondences_
 The maximum number of displayed correspondences.
std::string registration_method_name_
 The name of the registration method whose intermediate results are rendered.
boost::function< void(const
pcl::PointCloud< PointSource >
&cloud_src, const std::vector
< int > &indices_src, const
pcl::PointCloud< PointTarget >
&cloud_tgt, const std::vector
< int > &indices_tgt)> 
update_visualizer_
 Callback function linked to pcl::Registration::update_visualizer_.
boost::shared_ptr
< pcl::visualization::PCLVisualizer
viewer_
 The registration viewer.
boost::thread viewer_thread_
 The thread running the runDisplay() function.
boost::mutex visualizer_updating_mutex_
 The mutex used for the sincronization of updating and rendering of the local buffers.

Detailed Description

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

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

Definition at line 55 of file registration_visualizer.h.


Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>
pcl::RegistrationVisualizer< PointSource, PointTarget >::RegistrationVisualizer ( ) [inline]

Empty constructor.

Definition at line 60 of file registration_visualizer.h.


Member Function Documentation

template<typename PointSource, typename PointTarget>
std::string pcl::RegistrationVisualizer< PointSource, PointTarget >::getIndexedName ( std::string root_name,
size_t &  id 
) [inline, private]

Return the string obtained by concatenating a root_name and an id.

Definition at line 159 of file registration_visualizer.h.

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

Return maximum number of corresponcence lines which are rendered.

Definition at line 147 of file registration_visualizer.h.

template<typename PointSource , typename PointTarget >
void pcl::RegistrationVisualizer< PointSource, PointTarget >::runDisplay ( ) [private]

Initialize and run the visualization loop. This function will be runned in the internal thread viewer_thread_.

Definition at line 57 of file registration_visualizer.hpp.

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

Set maximum number of corresponcence lines whch will be rendered.

Definition at line 130 of file registration_visualizer.h.

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 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 83 of file registration_visualizer.h.

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

Start the viewer thread.

Definition at line 41 of file registration_visualizer.hpp.

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

Stop the viewer thread.

Definition at line 49 of file registration_visualizer.hpp.

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 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 182 of file registration_visualizer.hpp.


Member Data Documentation

template<typename PointSource, typename PointTarget>
pcl::PointCloud<PointSource> pcl::RegistrationVisualizer< PointSource, PointTarget >::cloud_intermediate_ [private]

The local buffer for intermediate point cloud obtained during registration process.

Definition at line 194 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
std::vector<int> pcl::RegistrationVisualizer< PointSource, PointTarget >::cloud_intermediate_indices_ [private]

The indices of intermediate points used for computation of rigid transformation.

Definition at line 197 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
pcl::PointCloud<PointSource> pcl::RegistrationVisualizer< PointSource, PointTarget >::cloud_source_ [private]

The local buffer for source point cloud.

Definition at line 185 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
pcl::PointCloud<PointTarget> pcl::RegistrationVisualizer< PointSource, PointTarget >::cloud_target_ [private]

The local buffer for target point cloud.

Definition at line 188 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
std::vector<int> pcl::RegistrationVisualizer< PointSource, PointTarget >::cloud_target_indices_ [private]

The indices of target points used for computation of rigid transformation.

Definition at line 200 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
bool pcl::RegistrationVisualizer< PointSource, PointTarget >::first_update_flag_ [private]

Updates source and target point clouds only for the first update call.

Definition at line 182 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
size_t pcl::RegistrationVisualizer< PointSource, PointTarget >::maximum_displayed_correspondences_ [private]

The maximum number of displayed correspondences.

Definition at line 203 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
std::string pcl::RegistrationVisualizer< PointSource, PointTarget >::registration_method_name_ [private]

The name of the registration method whose intermediate results are rendered.

Definition at line 174 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
boost::function<void (const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &indices_src, const pcl::PointCloud< PointTarget> &cloud_tgt, const std::vector<int> &indices_tgt)> pcl::RegistrationVisualizer< PointSource, PointTarget >::update_visualizer_ [private]

Callback function linked to pcl::Registration::update_visualizer_.

Definition at line 179 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
boost::shared_ptr<pcl::visualization::PCLVisualizer> pcl::RegistrationVisualizer< PointSource, PointTarget >::viewer_ [private]

The registration viewer.

Definition at line 168 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
boost::thread pcl::RegistrationVisualizer< PointSource, PointTarget >::viewer_thread_ [private]

The thread running the runDisplay() function.

Definition at line 171 of file registration_visualizer.h.

template<typename PointSource, typename PointTarget>
boost::mutex pcl::RegistrationVisualizer< PointSource, PointTarget >::visualizer_updating_mutex_ [private]

The mutex used for the sincronization of updating and rendering of the local buffers.

Definition at line 191 of file registration_visualizer.h.


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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:43:10