Point Cloud Library (PCL) 1.15.0
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List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::GraphRegistration< GraphT > Class Template Referenceabstract

GraphRegistration class is the base class for graph-based registration methods More...

#include <pcl/registration/graph_registration.h>

+ Inheritance diagram for pcl::GraphRegistration< GraphT >:

Public Types

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

 GraphRegistration ()
 Empty constructor.
 
virtual ~GraphRegistration ()=default
 Empty destructor.
 
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.
 
void setGraphHandler (GraphHandlerPtr &gh)
 Set the graph handler.
 
GraphHandlerPtr getGraphHandler ()
 Get a pointer to the graph handler.
 
GraphHandlerConstPtr getGraphHandler () const
 Get a pointer to the graph handler.
 
void compute ()
 Check if new poses have been added, then call the registration method which is implemented by the subclasses.
 

Protected Attributes

GraphHandlerPtr graph_handler_
 The graph handler.
 
GraphHandlerVertex last_aligned_vertex_
 The last estimated pose.
 
std::vector< GraphHandlerVertexlast_vertices_
 The vertices added to the graph since the last call to compute.
 

Detailed Description

template<typename GraphT>
class pcl::GraphRegistration< GraphT >

GraphRegistration class is the base class for graph-based registration methods

Author
Nicola Fioraio

Definition at line 51 of file graph_registration.h.

Member Typedef Documentation

◆ GraphHandler

template<typename GraphT >
using pcl::GraphRegistration< GraphT >::GraphHandler = pcl::registration::GraphHandler<GraphT>

Definition at line 53 of file graph_registration.h.

◆ GraphHandlerConstPtr

template<typename GraphT >
using pcl::GraphRegistration< GraphT >::GraphHandlerConstPtr = typename pcl::registration::GraphHandler<GraphT>::ConstPtr

Definition at line 55 of file graph_registration.h.

◆ GraphHandlerPtr

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

Definition at line 54 of file graph_registration.h.

◆ GraphHandlerVertex

template<typename GraphT >
using pcl::GraphRegistration< GraphT >::GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex

Definition at line 57 of file graph_registration.h.

Constructor & Destructor Documentation

◆ GraphRegistration()

template<typename GraphT >
pcl::GraphRegistration< GraphT >::GraphRegistration ( )
inline

Empty constructor.

Definition at line 60 of file graph_registration.h.

◆ ~GraphRegistration()

template<typename GraphT >
virtual pcl::GraphRegistration< GraphT >::~GraphRegistration ( )
virtualdefault

Empty destructor.

Member Function Documentation

◆ addPointCloud()

template<typename GraphT >
template<typename PointT >
void pcl::GraphRegistration< GraphT >::addPointCloud ( const typename pcl::PointCloud< PointT >::ConstPtr &  cloud,
const Eigen::Matrix4f &  pose 
)
inline

Add a point cloud and the associated camera pose to the graph.

Definition at line 72 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_, and pcl::GraphRegistration< GraphT >::last_vertices_.

◆ compute()

template<typename GraphT >
void pcl::GraphRegistration< GraphT >::compute ( )
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_.

◆ getGraphHandler() [1/2]

template<typename GraphT >
GraphHandlerPtr pcl::GraphRegistration< GraphT >::getGraphHandler ( )
inline

Get a pointer to the graph handler.

Definition at line 87 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_.

◆ getGraphHandler() [2/2]

template<typename GraphT >
GraphHandlerConstPtr pcl::GraphRegistration< GraphT >::getGraphHandler ( ) const
inline

Get a pointer to the graph handler.

Definition at line 94 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_.

◆ setGraphHandler()

template<typename GraphT >
void pcl::GraphRegistration< GraphT >::setGraphHandler ( GraphHandlerPtr gh)
inline

Set the graph handler.

Definition at line 80 of file graph_registration.h.

References pcl::GraphRegistration< GraphT >::graph_handler_.

Member Data Documentation

◆ graph_handler_

template<typename GraphT >
GraphHandlerPtr pcl::GraphRegistration< GraphT >::graph_handler_
protected

◆ last_aligned_vertex_

template<typename GraphT >
GraphHandlerVertex pcl::GraphRegistration< GraphT >::last_aligned_vertex_
protected

The last estimated pose.

Definition at line 116 of file graph_registration.h.

Referenced by pcl::GraphRegistration< GraphT >::compute().

◆ last_vertices_

template<typename GraphT >
std::vector<GraphHandlerVertex> pcl::GraphRegistration< GraphT >::last_vertices_
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().


The documentation for this class was generated from the following file: