Point Cloud Library (PCL)  1.9.1-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

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

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 53 of file pairwise_graph_registration.h.

Member Typedef Documentation

◆ GraphHandlerVertex

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

Definition at line 61 of file pairwise_graph_registration.h.

◆ RegistrationPtr

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

Definition at line 60 of file pairwise_graph_registration.h.

Constructor & Destructor Documentation

◆ ~PairwiseGraphRegistration()

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

Empty destructor.

Definition at line 64 of file pairwise_graph_registration.h.

◆ PairwiseGraphRegistration() [1/2]

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

Empty constructor.

Definition at line 68 of file pairwise_graph_registration.h.

◆ PairwiseGraphRegistration() [2/2]

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

Constructor.

Definition at line 71 of file pairwise_graph_registration.h.

Member Function Documentation

◆ getRegistrationMethod()

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

Get the registration object.

Definition at line 83 of file pairwise_graph_registration.h.

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

◆ isIncremental()

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

◆ setIncremental()

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 90 of file pairwise_graph_registration.h.

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

◆ setRegistrationMethod()

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

Set the registration object.

Definition at line 76 of file pairwise_graph_registration.h.

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

Member Data Documentation

◆ incremental_

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 106 of file pairwise_graph_registration.h.

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

◆ registration_method_

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

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