GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the following boost::graph concepts: More...
#include <pcl/registration/graph_handler.h>
Public Types |
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| using | Ptr = shared_ptr< GraphHandler< GraphT > > |
| using | ConstPtr = shared_ptr< const GraphHandler< GraphT > > |
| using | GraphPtr = shared_ptr< GraphT > |
| using | GraphConstPtr = shared_ptr< const GraphT > |
| using | Vertex = typename boost::graph_traits< GraphT >::vertex_descriptor |
| using | Edge = typename boost::graph_traits< GraphT >::edge_descriptor |
Public Member Functions |
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| GraphHandler () | |
| Empty constructor. More... |
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| ~GraphHandler () | |
| Destructor. More... |
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| void | clear () |
| Clear the graph. More... |
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| GraphConstPtr | getGraph () const |
| Get a pointer to the BGL graph. More... |
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| GraphPtr | getGraph () |
| Get a pointer to the BGL graph. More... |
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| template<class PointT > | |
| Vertex | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const Eigen::Matrix4f &pose) |
| Add a new point cloud to the graph and return the new vertex. More... |
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| template<class EstimateT > | |
| Vertex | addGenericVertex (const EstimateT &estimate) |
| Add a new generic vertex created according to the given estimate. More... |
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| template<class InformationT > | |
| Edge | addPoseConstraint (const Vertex &v_start, const Vertex &v_end, const Eigen::Matrix4f &relative_transformation, const InformationT &information_matrix) |
| Add a new constraint between two poses. More... |
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| template<class MeasurementT > | |
| Edge | addGenericConstraint (const MeasurementT &measurement) |
| Add a generic constraint created according to the given measurement. More... |
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| void | removeVertex (const Vertex &v) |
| Remove a vertex from the graph. More... |
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| void | removeConstraint (const Edge &e) |
| Remove a constraint from the graph. More... |
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Protected Member Functions |
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| bool | init () |
| This method is called right after the creation of graph_impl_. More... |
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| bool | deinit () |
| This method is called when graph_impl_ is going to be destroyed. More... |
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Detailed Description
template<typename GraphT>
class pcl::registration::GraphHandler< GraphT >
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the following boost::graph concepts:
- BidirectionalGraph
- AdjacencyGraph
- VertexAndEdgeListGraph
- MutableGraph
Other valid expressions:
- add_edge (m,g) add a new edge according to the given measurement. Return type: std::pair<edge_descriptor, bool>
- add_vertex (e,g) add a new vertex according to the given estimate. Return type: vertex_descriptor
- get_pose (v,g) retrieve the pose estimate for v, if any. Return type: Eigen::Matrix4f
- get_cloud (v,g) retrieve the cloud pointer associated to v, if any. Return type: pcl::PointCloud<PointT>::ConstPtr
- set_estimate (v,e,g) set the estimate for an existing vertex. Return type: void.
- set_measurement (d,m,g) set the measurement for an existing edge. Return type: void. Notation:
- m an edge measurement
- e a vertex estimate
- v a vertex
- d an edge
- g a graph A valid graph implementation should accept at least the PoseEstimate estimate and the PoseMeasurement measurement
If a specific graph implementation needs initialization and/or finalization, specialize the protected methods init() and deinit() for your graph type
Definition at line 85 of file graph_handler.h.
Member Typedef Documentation
ConstPtr
| using pcl::registration::GraphHandler< GraphT >::ConstPtr = shared_ptr<const GraphHandler<GraphT> > |
Definition at line 88 of file graph_handler.h.
Edge
| using pcl::registration::GraphHandler< GraphT >::Edge = typename boost::graph_traits<GraphT>::edge_descriptor |
Definition at line 93 of file graph_handler.h.
GraphConstPtr
| using pcl::registration::GraphHandler< GraphT >::GraphConstPtr = shared_ptr<const GraphT> |
Definition at line 90 of file graph_handler.h.
GraphPtr
| using pcl::registration::GraphHandler< GraphT >::GraphPtr = shared_ptr<GraphT> |
Definition at line 89 of file graph_handler.h.
Ptr
| using pcl::registration::GraphHandler< GraphT >::Ptr = shared_ptr<GraphHandler<GraphT> > |
Definition at line 87 of file graph_handler.h.
Vertex
| using pcl::registration::GraphHandler< GraphT >::Vertex = typename boost::graph_traits<GraphT>::vertex_descriptor |
Definition at line 92 of file graph_handler.h.
Constructor & Destructor Documentation
GraphHandler()
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inline |
Empty constructor.
Definition at line 96 of file graph_handler.h.
References pcl::registration::GraphHandler< GraphT >::init().
~GraphHandler()
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inline |
Destructor.
Definition at line 106 of file graph_handler.h.
References pcl::registration::GraphHandler< GraphT >::deinit().
Member Function Documentation
addGenericConstraint()
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inline |
Add a generic constraint created according to the given measurement.
- Parameters
-
measurement the measurement
- Returns
- a reference to the new edge
Definition at line 184 of file graph_handler.h.
addGenericVertex()
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inline |
Add a new generic vertex created according to the given estimate.
- Parameters
-
estimate the parameters' estimate
- Returns
- a reference to the new vertex
Definition at line 154 of file graph_handler.h.
addPointCloud()
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inline |
Add a new point cloud to the graph and return the new vertex.
- Parameters
-
cloud the new point cloud pose the pose estimate
- Returns
- a reference to the new vertex
Definition at line 142 of file graph_handler.h.
addPoseConstraint()
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inline |
Add a new constraint between two poses.
- Parameters
-
v_start the first pose v_end the second pose relative_transformation the transformation from v_start to v_end information_matrix the uncertainty
- Returns
- a reference to the new edge
Definition at line 168 of file graph_handler.h.
clear()
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inline |
Clear the graph.
Definition at line 110 of file graph_handler.h.
References pcl::registration::GraphHandler< GraphT >::deinit(), and pcl::registration::GraphHandler< GraphT >::init().
deinit()
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inlineprotected |
This method is called when graph_impl_ is going to be destroyed.
Definition at line 217 of file graph_handler.h.
Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::~GraphHandler().
getGraph() [1/2]
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inline |
Get a pointer to the BGL graph.
Definition at line 130 of file graph_handler.h.
getGraph() [2/2]
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inline |
Get a pointer to the BGL graph.
Definition at line 123 of file graph_handler.h.
init()
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inlineprotected |
This method is called right after the creation of graph_impl_.
Definition at line 210 of file graph_handler.h.
Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::GraphHandler().
removeConstraint()
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inline |
Remove a constraint from the graph.
- Parameters
-
e the edge
Definition at line 202 of file graph_handler.h.
removeVertex()
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inline |
Remove a vertex from the graph.
- Parameters
-
v the vertex
Definition at line 193 of file graph_handler.h.
The documentation for this class was generated from the following file:
- pcl/registration/graph_handler.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_graph_handler.html
