Point Cloud Library (PCL)
1.10.1
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44 #include <pcl/pcl_base.h>
46 #include <pcl/point_cloud.h>
47 #include <pcl/registration/registration.h>
48 #include <pcl/registration/boost.h>
49 #include <pcl/registration/eigen.h>
50 #include <pcl/registration/icp.h>
51 #include <pcl/registration/boost_graph.h>
55 namespace registration
61 template <
typename Po
intT>
110 typename boost::graph_traits<LoopGraph>::vertex_descriptor vd = add_vertex (*loop_graph_);
111 (*loop_graph_)[vd].cloud = cloud;
112 if (num_vertices (*loop_graph_) > 1)
113 add_edge (vd_, vd, *loop_graph_);
121 return (loop_graph_);
130 loop_graph_ = loop_graph;
134 inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
137 return (loop_start_);
144 setLoopStart (
const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_start)
146 loop_start_ = loop_start;
150 inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
160 setLoopEnd (
const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_end)
162 loop_end_ = loop_end;
182 inline Eigen::Matrix4f
185 return (loop_transform_);
194 loop_transform_ = loop_transform;
195 compute_loop_ =
false;
214 using LOAGraph = boost::adjacency_list<
215 boost::listS, boost::vecS, boost::undirectedS,
217 boost::property< boost::edge_weight_t, double > >;
227 loopOptimizerAlgorithm (LOAGraph &g,
double *weights);
233 typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;
236 typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;
242 Eigen::Matrix4f loop_transform_;
246 typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;
254 #include <pcl/registration/impl/elch.hpp>
void addPointCloud(PointCloudPtr cloud)
Add a new point cloud to the internal graph.
void setLoopStart(const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start)
Setter for the first scan of a loop.
shared_ptr< Registration< PointT, PointT, float > > Ptr
Defines all the PCL and non-PCL macros used.
typename Registration::Ptr RegistrationPtr
This file defines compatibility wrappers for low level I/O functions.
shared_ptr< const ELCH< PointT > > ConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
typename PointCloud::Ptr PointCloudPtr
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopStart()
Getter for the first scan of a loop.
typename Registration::ConstPtr RegistrationConstPtr
void compute()
Computes new poses for all point clouds by closing the loop between start and end point cloud.
void setReg(RegistrationPtr reg)
Setter for the registration algorithm.
void setLoopEnd(const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end)
Setter for the last scan of a loop.
LoopGraphPtr getLoopGraph()
Getter for the internal graph.
void setLoopTransform(const Eigen::Matrix4f &loop_transform)
Setter for the transformation between the first and the last scan.
IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm.
shared_ptr< ELCH< PointT > > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setLoopGraph(LoopGraphPtr loop_graph)
Setter for a new internal graph.
ELCH (Explicit Loop Closing Heuristic) class
virtual bool initCompute()
This method should get called before starting the actual computation.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
shared_ptr< LoopGraph > LoopGraphPtr
Eigen::Matrix4f getLoopTransform()
Getter for the transformation between the first and the last scan.
Eigen::Affine3f transform
shared_ptr< PointCloud< PointT > > Ptr
boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property > LoopGraph
graph structure to hold the SLAM graph
shared_ptr< const PointCloud< PointT > > ConstPtr
RegistrationPtr getReg()
Getter for the registration algorithm.
shared_ptr< const Registration< PointT, PointT, float > > ConstPtr
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopEnd()
Getter for the last scan of a loop.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.