Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::GraphRegistration< GraphT > Class Template Referenceabstract

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

#include <pcl/registration/graph_registration.h>

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

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. 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< GraphHandlerVertexlast_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

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

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 ( )
inlinevirtual

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: