Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Attributes
pcl::GraphRegistration< GraphT > Class Template Reference

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

#include <pcl/registration/graph_registration.h>

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

List of all members.

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.
virtual ~GraphRegistration ()
 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 54 of file graph_registration.h.


Member Typedef Documentation

template<typename GraphT >
typedef pcl::registration::GraphHandler<GraphT> pcl::GraphRegistration< GraphT >::GraphHandler

Definition at line 57 of file graph_registration.h.

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

Definition at line 59 of file graph_registration.h.

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

Definition at line 58 of file graph_registration.h.

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

Reimplemented in pcl::PairwiseGraphRegistration< GraphT, PointT >.

Definition at line 60 of file graph_registration.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 63 of file graph_registration.h.

template<typename GraphT >
virtual pcl::GraphRegistration< GraphT >::~GraphRegistration ( ) [inline, virtual]

Empty destructor.

Definition at line 69 of file graph_registration.h.


Member Function Documentation

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 73 of file graph_registration.h.

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

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_.

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_.

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_.

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

template<typename GraphT >
GraphHandlerPtr pcl::GraphRegistration< GraphT >::graph_handler_ [protected]
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().

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: