Point Cloud Library (PCL)  1.7.0
Classes | Public Types | Public Member Functions | Protected Member Functions
pcl::registration::ELCH< PointT > Class Template Reference

ELCH (Explicit Loop Closing Heuristic) class More...

#include <pcl/registration/elch.h>

+ Inheritance diagram for pcl::registration::ELCH< PointT >:

List of all members.

Classes

struct  Vertex

Public Types

typedef boost::shared_ptr
< ELCH< PointT > > 
Ptr
typedef boost::shared_ptr
< const ELCH< PointT > > 
ConstPtr
typedef pcl::PointCloud< PointTPointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef boost::adjacency_list
< boost::listS,
boost::eigen_vecS,
boost::undirectedS, Vertex,
boost::no_property > 
LoopGraph
 graph structure to hold the SLAM graph
typedef boost::shared_ptr
< LoopGraph
LoopGraphPtr
typedef pcl::Registration
< PointT, PointT
Registration
typedef Registration::Ptr RegistrationPtr
typedef Registration::ConstPtr RegistrationConstPtr

Public Member Functions

 ELCH ()
 Empty constructor.
virtual ~ELCH ()
 Empty destructor.
void addPointCloud (PointCloudPtr cloud)
 Add a new point cloud to the internal graph.
LoopGraphPtr getLoopGraph ()
 Getter for the internal graph.
void setLoopGraph (LoopGraphPtr loop_graph)
 Setter for a new internal graph.
boost::graph_traits< LoopGraph >
::vertex_descriptor 
getLoopStart ()
 Getter for the first scan of a loop.
void setLoopStart (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start)
 Setter for the first scan of a loop.
boost::graph_traits< LoopGraph >
::vertex_descriptor 
getLoopEnd ()
 Getter for the last scan of a loop.
void setLoopEnd (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end)
 Setter for the last scan of a loop.
RegistrationPtr getReg ()
 Getter for the registration algorithm.
void setReg (RegistrationPtr reg)
 Setter for the registration algorithm.
Eigen::Matrix4f getLoopTransform ()
 Getter for the transformation between the first and the last scan.
void setLoopTransform (const Eigen::Matrix4f &loop_transform)
 Setter for the transformation between the first and the last scan.
void compute ()
 Computes now poses for all point clouds by closing the loop between start and end point cloud.

Protected Member Functions

virtual bool initCompute ()
 This method should get called before starting the actual computation.

Detailed Description

template<typename PointT>
class pcl::registration::ELCH< PointT >

ELCH (Explicit Loop Closing Heuristic) class

Author:
Jochen Sprickerhof

Definition at line 62 of file elch.h.


Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr< const ELCH<PointT> > pcl::registration::ELCH< PointT >::ConstPtr

Definition at line 66 of file elch.h.

template<typename PointT >
typedef boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property> pcl::registration::ELCH< PointT >::LoopGraph

graph structure to hold the SLAM graph

Definition at line 83 of file elch.h.

template<typename PointT >
typedef boost::shared_ptr< LoopGraph > pcl::registration::ELCH< PointT >::LoopGraphPtr

Definition at line 85 of file elch.h.

template<typename PointT >
typedef pcl::PointCloud<PointT> pcl::registration::ELCH< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 68 of file elch.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 70 of file elch.h.

template<typename PointT >
typedef PointCloud::Ptr pcl::registration::ELCH< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 69 of file elch.h.

template<typename PointT >
typedef boost::shared_ptr< ELCH<PointT> > pcl::registration::ELCH< PointT >::Ptr

Definition at line 65 of file elch.h.

template<typename PointT >
typedef pcl::Registration<PointT, PointT> pcl::registration::ELCH< PointT >::Registration

Definition at line 87 of file elch.h.

Definition at line 89 of file elch.h.

template<typename PointT >
typedef Registration::Ptr pcl::registration::ELCH< PointT >::RegistrationPtr

Definition at line 88 of file elch.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::registration::ELCH< PointT >::ELCH ( ) [inline]

Empty constructor.

Definition at line 92 of file elch.h.

template<typename PointT >
virtual pcl::registration::ELCH< PointT >::~ELCH ( ) [inline, virtual]

Empty destructor.

Definition at line 103 of file elch.h.


Member Function Documentation

template<typename PointT >
void pcl::registration::ELCH< PointT >::addPointCloud ( PointCloudPtr  cloud) [inline]

Add a new point cloud to the internal graph.

Parameters:
[in]cloudthe new point cloud

Definition at line 109 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::compute ( )

Computes now poses for all point clouds by closing the loop between start and end point cloud.

This will transform all given point clouds for now!

Definition at line 218 of file elch.hpp.

References pcl::transformPointCloud().

template<typename PointT >
boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopEnd ( ) [inline]

Getter for the last scan of a loop.

Definition at line 152 of file elch.h.

template<typename PointT >
LoopGraphPtr pcl::registration::ELCH< PointT >::getLoopGraph ( ) [inline]

Getter for the internal graph.

Definition at line 120 of file elch.h.

template<typename PointT >
boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopStart ( ) [inline]

Getter for the first scan of a loop.

Definition at line 136 of file elch.h.

template<typename PointT >
Eigen::Matrix4f pcl::registration::ELCH< PointT >::getLoopTransform ( ) [inline]

Getter for the transformation between the first and the last scan.

Definition at line 184 of file elch.h.

template<typename PointT >
RegistrationPtr pcl::registration::ELCH< PointT >::getReg ( ) [inline]

Getter for the registration algorithm.

Definition at line 168 of file elch.h.

template<typename PointT >
bool pcl::registration::ELCH< PointT >::initCompute ( ) [protected, virtual]

This method should get called before starting the actual computation.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 158 of file elch.hpp.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopEnd ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor &  loop_end) [inline]

Setter for the last scan of a loop.

Parameters:
[in]loop_endthe scan that ends the loop

Definition at line 161 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopGraph ( LoopGraphPtr  loop_graph) [inline]

Setter for a new internal graph.

Parameters:
[in]loop_graphthe new graph

Definition at line 129 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopStart ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor &  loop_start) [inline]

Setter for the first scan of a loop.

Parameters:
[in]loop_startthe scan that starts the loop

Definition at line 145 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopTransform ( const Eigen::Matrix4f &  loop_transform) [inline]

Setter for the transformation between the first and the last scan.

Parameters:
[in]loop_transformthe transformation between the first and the last scan

Definition at line 193 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setReg ( RegistrationPtr  reg) [inline]

Setter for the registration algorithm.

Parameters:
[in]regthe registration algorithm used to compute the transformation between the start and the end of the loop

Definition at line 177 of file elch.h.


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