41 #ifndef PCL_GRAPH_REGISTRATION_H_
42 #define PCL_GRAPH_REGISTRATION_H_
44 #include <pcl/point_cloud.h>
45 #include <pcl/registration/graph_handler.h>
53 template <
typename GraphT>
72 template <
typename Po
intT>
inline void
86 inline GraphHandlerPtr
93 inline GraphHandlerConstPtr
107 computeRegistration ();
123 computeRegistration () = 0;
127 #endif // PCL_GRAPH_REGISTRATION_H_
pcl::registration::GraphHandler< GraphT >::Ptr GraphHandlerPtr
GraphHandlerConstPtr getGraphHandler() const
Get a pointer to the graph handler.
pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
boost::graph_traits< GraphT >::vertex_descriptor Vertex
void setGraphHandler(GraphHandlerPtr &gh)
Set the graph handler.
pcl::registration::GraphHandler< GraphT >::ConstPtr GraphHandlerConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
pcl::registration::GraphHandler< GraphT > GraphHandler
GraphHandlerVertex last_aligned_vertex_
The last estimated pose.
GraphRegistration class is the base class for graph-based registration methods
boost::shared_ptr< const GraphHandler< GraphT > > ConstPtr
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the follo...
virtual ~GraphRegistration()
Empty destructor.
void compute()
Check if new poses have been added, then call the registration method which is implemented by the sub...
GraphHandlerPtr graph_handler_
The graph handler.
GraphHandlerPtr getGraphHandler()
Get a pointer to the graph handler.
boost::shared_ptr< GraphHandler< GraphT > > Ptr
GraphRegistration()
Empty constructor.
std::vector< GraphHandlerVertex > last_vertices_
The vertices added to the graph since the last call to compute.
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.