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You first need to understand the boost binding function and how use it to bind function object.

tf_filter_->registerCallback( boost::bind(&PoseDrawer::msgCallback, this, _1) );

Simply put, it binds the call back function with the function whose object being created pointed by a this pointer. Do a review on boost::bind to understand the syntax and usage. PoseDrawer is the class that has a member function msgCallback. _1 means the default argument passing when the rospin() is activated up on the scope of the current subscriber. For the tf::MessageFilters tutorial, it is the turtle_point_stamped topic.

In summary, registerCallback is a way to bind the object function msgCallback of the current object of class PoseDrawer to the default handle of topic turtle_point_stamped.