Point Cloud Library (PCL)  1.7.1
graph_registration.h
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40 
41 #ifndef PCL_GRAPH_REGISTRATION_H_
42 #define PCL_GRAPH_REGISTRATION_H_
43 
44 #include <pcl/point_cloud.h>
45 #include <pcl/registration/graph_handler.h>
46 
47 namespace pcl
48 {
49  /** \brief @b GraphRegistration class is the base class for graph-based registration methods
50  * \author Nicola Fioraio
51  * \ingroup registration
52  */
53  template <typename GraphT>
55  {
56  public:
61 
62  /** \brief Empty constructor */
64  last_aligned_vertex_ (boost::graph_traits<GraphT>::null_vertex ()),
66  {}
67 
68  /** \brief Empty destructor */
69  virtual ~GraphRegistration () {}
70 
71  /** \brief Add a point cloud and the associated camera pose to the graph */
72  template <typename PointT> inline void
73  addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr& cloud, const Eigen::Matrix4f& pose)
74  {
75  last_vertices_.push_back (graph_handler_->addPointCloud (cloud, pose));
76  }
77 
78  /** \brief Set the graph handler */
79  inline void
81  {
82  graph_handler_ = gh;
83  }
84 
85  /** \brief Get a pointer to the graph handler */
86  inline GraphHandlerPtr
88  {
89  return graph_handler_;
90  }
91 
92  /** \brief Get a pointer to the graph handler */
94  getGraphHandler () const
95  {
96  return graph_handler_;
97  }
98 
99  /** \brief Check if new poses have been added, then call the registration
100  * method which is implemented by the subclasses
101  */
102  inline void
104  {
105  if (last_vertices_.empty ())
106  return;
107  computeRegistration ();
109  last_vertices_.clear ();
110  }
111 
112  protected:
113  /** \brief The graph handler */
115  /** \brief The last estimated pose */
117  /** \brief The vertices added to the graph since the last call to compute */
118  std::vector<GraphHandlerVertex> last_vertices_;
119 
120  private:
121  /** \brief The registration method */
122  virtual void
123  computeRegistration () = 0;
124  };
125 }
126 
127 #endif // PCL_GRAPH_REGISTRATION_H_
boost::shared_ptr< GraphHandler< GraphT > > Ptr
Definition: graph_handler.h:85
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the follo...
Definition: graph_handler.h:82
GraphRegistration()
Empty constructor.
void setGraphHandler(GraphHandlerPtr &gh)
Set the graph handler.
boost::shared_ptr< const GraphHandler< GraphT > > ConstPtr
Definition: graph_handler.h:86
boost::graph_traits< GraphT >::vertex_descriptor Vertex
Definition: graph_handler.h:90
pcl::registration::GraphHandler< GraphT >::Ptr GraphHandlerPtr
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.
GraphHandlerConstPtr getGraphHandler() const
Get a pointer to the graph handler.
std::vector< GraphHandlerVertex > last_vertices_
The vertices added to the graph since the last call to compute.
GraphHandlerVertex last_aligned_vertex_
The last estimated pose.
GraphRegistration class is the base class for graph-based registration methods
pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
pcl::registration::GraphHandler< GraphT > GraphHandler
virtual ~GraphRegistration()
Empty destructor.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::GraphHandler< GraphT >::ConstPtr GraphHandlerConstPtr
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.