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/PointCloudLibraryPairwiseGraphRegistration class aligns the clouds two by two More...
#include <pcl/registration/pairwise_graph_registration.h>
Public Types | |
| using | RegistrationPtr = typename Registration< PointT, PointT >::Ptr |
| using | GraphHandlerVertex = typename pcl::registration::GraphHandler< GraphT >::Vertex |
 Public Types inherited from pcl::GraphRegistration< GraphT >
| |
| 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 | |
| virtual | ~PairwiseGraphRegistration () |
| Empty destructor. More... |
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| PairwiseGraphRegistration () | |
| Empty constructor. More... |
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| PairwiseGraphRegistration (const RegistrationPtr ®, bool incremental) | |
| Constructor. More... |
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| void | setRegistrationMethod (const RegistrationPtr ®) |
| Set the registration object. More... |
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| RegistrationPtr | getRegistrationMethod () |
| Get the registration object. More... |
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| void | setIncremental (bool incremental) |
| If True the initial transformation is always set to the Identity. More... |
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| bool | isIncremental () const |
| Is incremental ? More... |
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Public Member Functions inherited from pcl::GraphRegistration< GraphT >
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| GraphRegistration () | |
| Empty constructor. More... |
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| virtual | ~GraphRegistration () |
| Empty destructor. More... |
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| 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... |
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| void | setGraphHandler (GraphHandlerPtr &gh) |
| Set the graph handler. More... |
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| GraphHandlerPtr | getGraphHandler () |
| Get a pointer to the graph handler. More... |
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| GraphHandlerConstPtr | getGraphHandler () const |
| Get a pointer to the graph handler. More... |
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| void | compute () |
| Check if new poses have been added, then call the registration method which is implemented by the subclasses. More... |
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Protected Attributes | |
| RegistrationPtr | registration_method_ |
| The registration object. More... |
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| bool | incremental_ |
| If True the initial transformation is always set to the Identity. More... |
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Protected Attributes inherited from pcl::GraphRegistration< GraphT >
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| GraphHandlerPtr | graph_handler_ |
| The graph handler. More... |
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| GraphHandlerVertex | last_aligned_vertex_ |
| The last estimated pose. More... |
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| std::vector< GraphHandlerVertex > | last_vertices_ |
| The vertices added to the graph since the last call to compute. More... |
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Detailed Description
template<typename GraphT, typename PointT>
class pcl::PairwiseGraphRegistration< GraphT, PointT >
PairwiseGraphRegistration class aligns the clouds two by two
Definition at line 52 of file pairwise_graph_registration.h.
Member Typedef Documentation
GraphHandlerVertex
| using pcl::PairwiseGraphRegistration< GraphT, PointT >::GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex |
Definition at line 59 of file pairwise_graph_registration.h.
RegistrationPtr
| using pcl::PairwiseGraphRegistration< GraphT, PointT >::RegistrationPtr = typename Registration<PointT, PointT>::Ptr |
Definition at line 58 of file pairwise_graph_registration.h.
Constructor & Destructor Documentation
~PairwiseGraphRegistration()
| inlinevirtual |
Empty destructor.
Definition at line 62 of file pairwise_graph_registration.h.
PairwiseGraphRegistration() [1/2]
| inline |
Empty constructor.
Definition at line 65 of file pairwise_graph_registration.h.
PairwiseGraphRegistration() [2/2]
| inline |
Constructor.
Definition at line 67 of file pairwise_graph_registration.h.
Member Function Documentation
getRegistrationMethod()
| inline |
Get the registration object.
Definition at line 80 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.
isIncremental()
| inline |
Is incremental ?
Definition at line 94 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_.
setIncremental()
| inline |
If True the initial transformation is always set to the Identity.
Definition at line 87 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_.
setRegistrationMethod()
| inline |
Set the registration object.
Definition at line 73 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.
Member Data Documentation
incremental_
| protected |
If True the initial transformation is always set to the Identity.
Definition at line 103 of file pairwise_graph_registration.h.
Referenced by pcl::PairwiseGraphRegistration< GraphT, PointT >::isIncremental(), and pcl::PairwiseGraphRegistration< GraphT, PointT >::setIncremental().
registration_method_
| protected |
The registration object.
Definition at line 101 of file pairwise_graph_registration.h.
Referenced by pcl::PairwiseGraphRegistration< GraphT, PointT >::getRegistrationMethod(), and pcl::PairwiseGraphRegistration< GraphT, PointT >::setRegistrationMethod().
The documentation for this class was generated from the following files:
- pcl/registration/pairwise_graph_registration.h
- pcl/registration/impl/pairwise_graph_registration.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_pairwise_graph_registration.html