GraphRegistration class is the base class for graph-based registration methods More...
#include <pcl/registration/graph_registration.h>
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. More... |
|
| virtual | ~GraphRegistration () |
| Empty destructor. More... |
|
| 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. More... |
|
| void | setGraphHandler (GraphHandlerPtr &gh) |
| Set the graph handler. More... |
|
| GraphHandlerPtr | getGraphHandler () |
| Get a pointer to the graph handler. More... |
|
| GraphHandlerConstPtr | getGraphHandler () const |
| Get a pointer to the graph handler. More... |
|
| void | compute () |
| Check if new poses have been added, then call the registration method which is implemented by the subclasses. More... |
|
Protected Attributes |
|
| GraphHandlerPtr | graph_handler_ |
| The graph handler. More... |
|
| GraphHandlerVertex | last_aligned_vertex_ |
| The last estimated pose. More... |
|
| std::vector< GraphHandlerVertex > | last_vertices_ |
| The vertices added to the graph since the last call to compute. More... |
|
Detailed Description
template<typename GraphT>
class pcl::GraphRegistration< GraphT >
GraphRegistration class is the base class for graph-based registration methods
Definition at line 51 of file graph_registration.h.
Member Typedef Documentation
GraphHandler
| using pcl::GraphRegistration< GraphT >::GraphHandler = pcl::registration::GraphHandler<GraphT> |
Definition at line 53 of file graph_registration.h.
GraphHandlerConstPtr
| using pcl::GraphRegistration< GraphT >::GraphHandlerConstPtr = typename pcl::registration::GraphHandler<GraphT>::ConstPtr |
Definition at line 56 of file graph_registration.h.
GraphHandlerPtr
| using pcl::GraphRegistration< GraphT >::GraphHandlerPtr = typename pcl::registration::GraphHandler<GraphT>::Ptr |
Definition at line 54 of file graph_registration.h.
GraphHandlerVertex
| using pcl::GraphRegistration< GraphT >::GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex |
Definition at line 57 of file graph_registration.h.
Constructor & Destructor Documentation
GraphRegistration()
|
inline |
Empty constructor.
Definition at line 60 of file graph_registration.h.
~GraphRegistration()
|
inlinevirtual |
Empty destructor.
Definition at line 67 of file graph_registration.h.
Member Function Documentation
addPointCloud()
|
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()
|
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]
|
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]
|
inline |
Get a pointer to the graph handler.
Definition at line 94 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_.
setGraphHandler()
|
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_
|
protected |
The graph handler.
Definition at line 114 of file graph_registration.h.
Referenced by pcl::GraphRegistration< GraphT >::addPointCloud(), pcl::GraphRegistration< GraphT >::getGraphHandler(), and pcl::GraphRegistration< GraphT >::setGraphHandler().
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_
|
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:
- pcl/registration/graph_registration.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_graph_registration.html
