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GraphRegistration class is the base class for graph-based registration methods More...

#include <pcl/registration/graph_registration.h>

Public Types

using GraphHandler = pcl::registration::GraphHandler< GraphT >
using GraphHandlerPtr = typename pcl::registration::GraphHandler< GraphT >::Ptr
using GraphHandlerConstPtr = typename pcl::registration::GraphHandler< GraphT >::ConstPtr
using GraphHandlerVertex = typename pcl::registration::GraphHandler< GraphT >::Vertex

Public Member Functions

GraphRegistration ()
Empty constructor. More...
virtual ~GraphRegistration ()
Empty destructor. More...
template<typename PointT >
void addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const Eigen::Matrix4f &pose)
Add a point cloud and the associated camera pose to the graph. More...
void setGraphHandler (GraphHandlerPtr &gh)
Set the graph handler. More...
GraphHandlerPtr getGraphHandler ()
Get a pointer to the graph handler. More...
GraphHandlerConstPtr getGraphHandler () const
Get a pointer to the graph handler. More...
void compute ()
Check if new poses have been added, then call the registration method which is implemented by the subclasses. More...

Protected Attributes

GraphHandlerPtr graph_handler_
The graph handler. More...
GraphHandlerVertex last_aligned_vertex_
The last estimated pose. More...
std::vector< GraphHandlerVertex > last_vertices_
The vertices added to the graph since the last call to compute. More...

Detailed Description

template<typename GraphT>
class pcl::GraphRegistration< GraphT >

GraphRegistration class is the base class for graph-based registration methods

Author
Nicola Fioraio

Definition at line 51 of file graph_registration.h.

Member Typedef Documentation

GraphHandler

template<typename GraphT >
using pcl::GraphRegistration< GraphT >::GraphHandler = pcl::registration::GraphHandler<GraphT>

Definition at line 53 of file graph_registration.h.

GraphHandlerConstPtr

template<typename GraphT >
using pcl::GraphRegistration< GraphT >::GraphHandlerConstPtr = typename pcl::registration::GraphHandler<GraphT>::ConstPtr

Definition at line 56 of file graph_registration.h.

GraphHandlerPtr

template<typename GraphT >
using pcl::GraphRegistration< GraphT >::GraphHandlerPtr = typename pcl::registration::GraphHandler<GraphT>::Ptr

Definition at line 54 of file graph_registration.h.

GraphHandlerVertex

template<typename GraphT >
using pcl::GraphRegistration< GraphT >::GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex

Definition at line 57 of file graph_registration.h.

Constructor & Destructor Documentation

GraphRegistration()

template<typename GraphT >
pcl::GraphRegistration< GraphT >::GraphRegistration ( )
inline

Empty constructor.

Definition at line 60 of file graph_registration.h.

~GraphRegistration()

template<typename GraphT >
virtual pcl::GraphRegistration< GraphT >::~GraphRegistration ( )
inlinevirtual

Empty destructor.

Definition at line 67 of file graph_registration.h.

Member Function Documentation

addPointCloud()

template<typename GraphT >
template<typename PointT >
void pcl::GraphRegistration< GraphT >::addPointCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud,
const Eigen::Matrix4f & pose
)
inline

Add a point cloud and the associated camera pose to the graph.

Definition at line 72 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_, and pcl::GraphRegistration< GraphT >::last_vertices_.

compute()

template<typename GraphT >
void pcl::GraphRegistration< GraphT >::compute ( )
inline

Check if new poses have been added, then call the registration method which is implemented by the subclasses.

Definition at line 103 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::last_aligned_vertex_, and pcl::GraphRegistration< GraphT >::last_vertices_.

getGraphHandler() [1/2]

template<typename GraphT >
GraphHandlerPtr pcl::GraphRegistration< GraphT >::getGraphHandler ( )
inline

Get a pointer to the graph handler.

Definition at line 87 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_.

getGraphHandler() [2/2]

template<typename GraphT >
GraphHandlerConstPtr pcl::GraphRegistration< GraphT >::getGraphHandler ( ) const
inline

Get a pointer to the graph handler.

Definition at line 94 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_.

setGraphHandler()

template<typename GraphT >
void pcl::GraphRegistration< GraphT >::setGraphHandler ( GraphHandlerPtr & gh )
inline

Set the graph handler.

Definition at line 80 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_.

Member Data Documentation

graph_handler_

template<typename GraphT >
GraphHandlerPtr pcl::GraphRegistration< GraphT >::graph_handler_
protected

The graph handler.

Definition at line 114 of file graph_registration.h.

Referenced by pcl::GraphRegistration< GraphT >::addPointCloud(), pcl::GraphRegistration< GraphT >::getGraphHandler(), and pcl::GraphRegistration< GraphT >::setGraphHandler().

last_aligned_vertex_

template<typename GraphT >
GraphHandlerVertex pcl::GraphRegistration< GraphT >::last_aligned_vertex_
protected

The last estimated pose.

Definition at line 116 of file graph_registration.h.

Referenced by pcl::GraphRegistration< GraphT >::compute().

last_vertices_

template<typename GraphT >
std::vector<GraphHandlerVertex> pcl::GraphRegistration< GraphT >::last_vertices_
protected

The vertices added to the graph since the last call to compute.

Definition at line 118 of file graph_registration.h.

Referenced by pcl::GraphRegistration< GraphT >::addPointCloud(), and pcl::GraphRegistration< GraphT >::compute().

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_graph_registration.html