Point Cloud Library (PCL)
1.7.2
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GraphRegistration class is the base class for graph-based registration methods More...
#include <pcl/registration/graph_registration.h>
Public Types | |
typedef pcl::registration::GraphHandler< GraphT > | GraphHandler |
typedef pcl::registration::GraphHandler< GraphT >::Ptr | GraphHandlerPtr |
typedef pcl::registration::GraphHandler< GraphT >::ConstPtr | GraphHandlerConstPtr |
typedef pcl::registration::GraphHandler< GraphT >::Vertex | GraphHandlerVertex |
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... | |
GraphRegistration class is the base class for graph-based registration methods
Definition at line 54 of file graph_registration.h.
typedef pcl::registration::GraphHandler<GraphT> pcl::GraphRegistration< GraphT >::GraphHandler |
Definition at line 57 of file graph_registration.h.
typedef pcl::registration::GraphHandler<GraphT>::ConstPtr pcl::GraphRegistration< GraphT >::GraphHandlerConstPtr |
Definition at line 59 of file graph_registration.h.
typedef pcl::registration::GraphHandler<GraphT>::Ptr pcl::GraphRegistration< GraphT >::GraphHandlerPtr |
Definition at line 58 of file graph_registration.h.
typedef pcl::registration::GraphHandler<GraphT>::Vertex pcl::GraphRegistration< GraphT >::GraphHandlerVertex |
Definition at line 60 of file graph_registration.h.
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inline |
Empty constructor.
Definition at line 63 of file graph_registration.h.
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inlinevirtual |
Empty destructor.
Definition at line 69 of file graph_registration.h.
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inline |
Add a point cloud and the associated camera pose to the graph.
Definition at line 73 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_, and pcl::GraphRegistration< GraphT >::last_vertices_.
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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_.
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Get a pointer to the graph handler.
Definition at line 87 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_.
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inline |
Get a pointer to the graph handler.
Definition at line 94 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_.
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Set the graph handler.
Definition at line 80 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_.
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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().
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protected |
The last estimated pose.
Definition at line 116 of file graph_registration.h.
Referenced by pcl::GraphRegistration< GraphT >::compute().
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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().