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

PairwiseGraphRegistration class aligns the clouds two by two More...

#include <pcl/registration/pairwise_graph_registration.h>

+ Inheritance diagram for pcl::PairwiseGraphRegistration< GraphT, PointT >:

Public Types

typedef Registration< PointT,
PointT >::Ptr 
RegistrationPtr
 
typedef
pcl::registration::GraphHandler
< GraphT >::Vertex 
GraphHandlerVertex
 
- Public Types inherited from pcl::GraphRegistration< GraphT >
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

virtual ~PairwiseGraphRegistration ()
 Empty destructor. More...
 
 PairwiseGraphRegistration ()
 Empty constructor. More...
 
 PairwiseGraphRegistration (const RegistrationPtr &reg, bool incremental)
 Constructor. More...
 
void setRegistrationMethod (const RegistrationPtr &reg)
 Set the registration object. More...
 
RegistrationPtr getRegistrationMethod ()
 Get the registration object. More...
 
void setIncremental (bool incremental)
 If True the initial transformation is always set to the Identity. More...
 
bool isIncremental () const
 Is incremental ? More...
 
- Public Member Functions inherited from pcl::GraphRegistration< GraphT >
 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

RegistrationPtr registration_method_
 The registration object. More...
 
bool incremental_
 If True the initial transformation is always set to the Identity. More...
 
- Protected Attributes inherited from pcl::GraphRegistration< GraphT >
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, typename PointT>
class pcl::PairwiseGraphRegistration< GraphT, PointT >

PairwiseGraphRegistration class aligns the clouds two by two

Author
Nicola Fioraio

Definition at line 54 of file pairwise_graph_registration.h.

Member Typedef Documentation

template<typename GraphT , typename PointT >
typedef pcl::registration::GraphHandler<GraphT>::Vertex pcl::PairwiseGraphRegistration< GraphT, PointT >::GraphHandlerVertex

Definition at line 62 of file pairwise_graph_registration.h.

template<typename GraphT , typename PointT >
typedef Registration<PointT, PointT>::Ptr pcl::PairwiseGraphRegistration< GraphT, PointT >::RegistrationPtr

Definition at line 61 of file pairwise_graph_registration.h.

Constructor & Destructor Documentation

template<typename GraphT , typename PointT >
virtual pcl::PairwiseGraphRegistration< GraphT, PointT >::~PairwiseGraphRegistration ( )
inlinevirtual

Empty destructor.

Definition at line 65 of file pairwise_graph_registration.h.

template<typename GraphT , typename PointT >
pcl::PairwiseGraphRegistration< GraphT, PointT >::PairwiseGraphRegistration ( )
inline

Empty constructor.

Definition at line 69 of file pairwise_graph_registration.h.

template<typename GraphT , typename PointT >
pcl::PairwiseGraphRegistration< GraphT, PointT >::PairwiseGraphRegistration ( const RegistrationPtr reg,
bool  incremental 
)
inline

Constructor.

Definition at line 72 of file pairwise_graph_registration.h.

Member Function Documentation

template<typename GraphT , typename PointT >
RegistrationPtr pcl::PairwiseGraphRegistration< GraphT, PointT >::getRegistrationMethod ( )
inline

Get the registration object.

Definition at line 84 of file pairwise_graph_registration.h.

References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.

template<typename GraphT , typename PointT >
bool pcl::PairwiseGraphRegistration< GraphT, PointT >::isIncremental ( ) const
inline
template<typename GraphT , typename PointT >
void pcl::PairwiseGraphRegistration< GraphT, PointT >::setIncremental ( bool  incremental)
inline

If True the initial transformation is always set to the Identity.

Definition at line 91 of file pairwise_graph_registration.h.

References pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_.

template<typename GraphT , typename PointT >
void pcl::PairwiseGraphRegistration< GraphT, PointT >::setRegistrationMethod ( const RegistrationPtr reg)
inline

Set the registration object.

Definition at line 77 of file pairwise_graph_registration.h.

References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.

Member Data Documentation

template<typename GraphT , typename PointT >
bool pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_
protected

If True the initial transformation is always set to the Identity.

Definition at line 107 of file pairwise_graph_registration.h.

Referenced by pcl::PairwiseGraphRegistration< GraphT, PointT >::isIncremental(), and pcl::PairwiseGraphRegistration< GraphT, PointT >::setIncremental().

template<typename GraphT , typename PointT >
RegistrationPtr pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_
protected

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