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GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the following boost::graph concepts: More...

#include <pcl/registration/graph_handler.h>

Public Types

using Ptr = shared_ptr< GraphHandler< GraphT > >
using ConstPtr = shared_ptr< const GraphHandler< GraphT > >
using GraphPtr = shared_ptr< GraphT >
using GraphConstPtr = shared_ptr< const GraphT >
using Vertex = typename boost::graph_traits< GraphT >::vertex_descriptor
using Edge = typename boost::graph_traits< GraphT >::edge_descriptor

Public Member Functions

GraphHandler ()
Empty constructor. More...
~GraphHandler ()
Destructor. More...
void clear ()
Clear the graph. More...
GraphConstPtr getGraph () const
Get a pointer to the BGL graph. More...
GraphPtr getGraph ()
Get a pointer to the BGL graph. More...
template<class PointT >
Vertex addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const Eigen::Matrix4f &pose)
Add a new point cloud to the graph and return the new vertex. More...
template<class EstimateT >
Vertex addGenericVertex (const EstimateT &estimate)
Add a new generic vertex created according to the given estimate. More...
template<class InformationT >
Edge addPoseConstraint (const Vertex &v_start, const Vertex &v_end, const Eigen::Matrix4f &relative_transformation, const InformationT &information_matrix)
Add a new constraint between two poses. More...
template<class MeasurementT >
Edge addGenericConstraint (const MeasurementT &measurement)
Add a generic constraint created according to the given measurement. More...
void removeVertex (const Vertex &v)
Remove a vertex from the graph. More...
void removeConstraint (const Edge &e)
Remove a constraint from the graph. More...

Protected Member Functions

bool init ()
This method is called right after the creation of graph_impl_. More...
bool deinit ()
This method is called when graph_impl_ is going to be destroyed. More...

Detailed Description

template<typename GraphT>
class pcl::registration::GraphHandler< GraphT >

GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the following boost::graph concepts:

  • BidirectionalGraph
  • AdjacencyGraph
  • VertexAndEdgeListGraph
  • MutableGraph

Other valid expressions:

  • add_edge (m,g) add a new edge according to the given measurement. Return type: std::pair<edge_descriptor, bool>
  • add_vertex (e,g) add a new vertex according to the given estimate. Return type: vertex_descriptor
  • get_pose (v,g) retrieve the pose estimate for v, if any. Return type: Eigen::Matrix4f
  • get_cloud (v,g) retrieve the cloud pointer associated to v, if any. Return type: pcl::PointCloud<PointT>::ConstPtr
  • set_estimate (v,e,g) set the estimate for an existing vertex. Return type: void.
  • set_measurement (d,m,g) set the measurement for an existing edge. Return type: void. Notation:
  • m an edge measurement
  • e a vertex estimate
  • v a vertex
  • d an edge
  • g a graph A valid graph implementation should accept at least the PoseEstimate estimate and the PoseMeasurement measurement

If a specific graph implementation needs initialization and/or finalization, specialize the protected methods init() and deinit() for your graph type

Author
Nicola Fioraio

Definition at line 85 of file graph_handler.h.

Member Typedef Documentation

ConstPtr

template<typename GraphT >
using pcl::registration::GraphHandler< GraphT >::ConstPtr = shared_ptr<const GraphHandler<GraphT> >

Definition at line 88 of file graph_handler.h.

Edge

template<typename GraphT >
using pcl::registration::GraphHandler< GraphT >::Edge = typename boost::graph_traits<GraphT>::edge_descriptor

Definition at line 93 of file graph_handler.h.

GraphConstPtr

template<typename GraphT >
using pcl::registration::GraphHandler< GraphT >::GraphConstPtr = shared_ptr<const GraphT>

Definition at line 90 of file graph_handler.h.

GraphPtr

template<typename GraphT >
using pcl::registration::GraphHandler< GraphT >::GraphPtr = shared_ptr<GraphT>

Definition at line 89 of file graph_handler.h.

Ptr

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

Definition at line 87 of file graph_handler.h.

Vertex

template<typename GraphT >
using pcl::registration::GraphHandler< GraphT >::Vertex = typename boost::graph_traits<GraphT>::vertex_descriptor

Definition at line 92 of file graph_handler.h.

Constructor & Destructor Documentation

GraphHandler()

template<typename GraphT >
pcl::registration::GraphHandler< GraphT >::GraphHandler ( )
inline

Empty constructor.

Definition at line 96 of file graph_handler.h.

References pcl::registration::GraphHandler< GraphT >::init().

~GraphHandler()

template<typename GraphT >
pcl::registration::GraphHandler< GraphT >::~GraphHandler ( )
inline

Destructor.

Definition at line 106 of file graph_handler.h.

References pcl::registration::GraphHandler< GraphT >::deinit().

Member Function Documentation

addGenericConstraint()

template<typename GraphT >
template<class MeasurementT >
Edge pcl::registration::GraphHandler< GraphT >::addGenericConstraint ( const MeasurementT & measurement )
inline

Add a generic constraint created according to the given measurement.

Parameters
measurement the measurement
Returns
a reference to the new edge

Definition at line 184 of file graph_handler.h.

addGenericVertex()

template<typename GraphT >
template<class EstimateT >
Vertex pcl::registration::GraphHandler< GraphT >::addGenericVertex ( const EstimateT & estimate )
inline

Add a new generic vertex created according to the given estimate.

Parameters
estimate the parameters' estimate
Returns
a reference to the new vertex

Definition at line 154 of file graph_handler.h.

addPointCloud()

template<typename GraphT >
template<class PointT >
Vertex pcl::registration::GraphHandler< GraphT >::addPointCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud,
const Eigen::Matrix4f & pose
)
inline

Add a new point cloud to the graph and return the new vertex.

Parameters
cloud the new point cloud
pose the pose estimate
Returns
a reference to the new vertex

Definition at line 142 of file graph_handler.h.

addPoseConstraint()

template<typename GraphT >
template<class InformationT >
Edge pcl::registration::GraphHandler< GraphT >::addPoseConstraint ( const Vertex & v_start,
const Vertex & v_end,
const Eigen::Matrix4f & relative_transformation,
const InformationT & information_matrix
)
inline

Add a new constraint between two poses.

Parameters
v_start the first pose
v_end the second pose
relative_transformation the transformation from v_start to v_end
information_matrix the uncertainty
Returns
a reference to the new edge

Definition at line 168 of file graph_handler.h.

clear()

template<typename GraphT >
void pcl::registration::GraphHandler< GraphT >::clear ( )
inline

Clear the graph.

Definition at line 110 of file graph_handler.h.

References pcl::registration::GraphHandler< GraphT >::deinit(), and pcl::registration::GraphHandler< GraphT >::init().

deinit()

template<typename GraphT >
bool pcl::registration::GraphHandler< GraphT >::deinit ( )
inlineprotected

This method is called when graph_impl_ is going to be destroyed.

Definition at line 217 of file graph_handler.h.

Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::~GraphHandler().

getGraph() [1/2]

template<typename GraphT >
GraphPtr pcl::registration::GraphHandler< GraphT >::getGraph ( )
inline

Get a pointer to the BGL graph.

Definition at line 130 of file graph_handler.h.

getGraph() [2/2]

template<typename GraphT >
GraphConstPtr pcl::registration::GraphHandler< GraphT >::getGraph ( ) const
inline

Get a pointer to the BGL graph.

Definition at line 123 of file graph_handler.h.

init()

template<typename GraphT >
bool pcl::registration::GraphHandler< GraphT >::init ( )
inlineprotected

This method is called right after the creation of graph_impl_.

Definition at line 210 of file graph_handler.h.

Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::GraphHandler().

removeConstraint()

template<typename GraphT >
void pcl::registration::GraphHandler< GraphT >::removeConstraint ( const Edge & e )
inline

Remove a constraint from the graph.

Parameters
e the edge

Definition at line 202 of file graph_handler.h.

removeVertex()

template<typename GraphT >
void pcl::registration::GraphHandler< GraphT >::removeVertex ( const Vertex & v )
inline

Remove a vertex from the graph.

Parameters
v the vertex

Definition at line 193 of file graph_handler.h.

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_1registration_1_1_graph_handler.html