Point Cloud Library (PCL)  1.9.1-dev
List of all members | Classes | Public Types | Public Member Functions | Protected Member Functions
pcl::registration::ELCH< PointT > Class Template Reference

ELCH (Explicit Loop Closing Heuristic) class More...

#include <pcl/registration/elch.h>

+ Inheritance diagram for pcl::registration::ELCH< PointT >:

Classes

struct  Vertex
 

Public Types

using Ptr = boost::shared_ptr< ELCH< PointT > >
 
using ConstPtr = boost::shared_ptr< const ELCH< PointT > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using LoopGraph = boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property >
 graph structure to hold the SLAM graph More...
 
using LoopGraphPtr = boost::shared_ptr< LoopGraph >
 
using Registration = pcl::Registration< PointT, PointT >
 
using RegistrationPtr = typename Registration::Ptr
 
using RegistrationConstPtr = typename Registration::ConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 

Public Member Functions

 ELCH ()
 Empty constructor. More...
 
 ~ELCH ()
 Empty destructor. More...
 
void addPointCloud (PointCloudPtr cloud)
 Add a new point cloud to the internal graph. More...
 
LoopGraphPtr getLoopGraph ()
 Getter for the internal graph. More...
 
void setLoopGraph (LoopGraphPtr loop_graph)
 Setter for a new internal graph. More...
 
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopStart ()
 Getter for the first scan of a loop. More...
 
void setLoopStart (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start)
 Setter for the first scan of a loop. More...
 
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopEnd ()
 Getter for the last scan of a loop. More...
 
void setLoopEnd (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end)
 Setter for the last scan of a loop. More...
 
RegistrationPtr getReg ()
 Getter for the registration algorithm. More...
 
void setReg (RegistrationPtr reg)
 Setter for the registration algorithm. More...
 
Eigen::Matrix4f getLoopTransform ()
 Getter for the transformation between the first and the last scan. More...
 
void setLoopTransform (const Eigen::Matrix4f &loop_transform)
 Setter for the transformation between the first and the last scan. More...
 
void compute ()
 Computes new poses for all point clouds by closing the loop between start and end point cloud. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointT>
class pcl::registration::ELCH< PointT >

ELCH (Explicit Loop Closing Heuristic) class

Author
Jochen Sprickerhof

Definition at line 62 of file elch.h.

Member Typedef Documentation

template<typename PointT >
using pcl::registration::ELCH< PointT >::ConstPtr = boost::shared_ptr<const ELCH<PointT> >

Definition at line 66 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::LoopGraph = boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property>

graph structure to hold the SLAM graph

Definition at line 83 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::LoopGraphPtr = boost::shared_ptr<LoopGraph>

Definition at line 85 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 68 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 70 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 69 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::Ptr = boost::shared_ptr<ELCH<PointT> >

Definition at line 65 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::Registration = pcl::Registration<PointT, PointT>

Definition at line 87 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::RegistrationConstPtr = typename Registration::ConstPtr

Definition at line 89 of file elch.h.

template<typename PointT >
using pcl::registration::ELCH< PointT >::RegistrationPtr = typename Registration::Ptr

Definition at line 88 of file elch.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::registration::ELCH< PointT >::ELCH ( )
inline

Empty constructor.

Definition at line 92 of file elch.h.

template<typename PointT >
pcl::registration::ELCH< PointT >::~ELCH ( )
inline

Empty destructor.

Definition at line 102 of file elch.h.

Member Function Documentation

template<typename PointT >
void pcl::registration::ELCH< PointT >::addPointCloud ( PointCloudPtr  cloud)
inline

Add a new point cloud to the internal graph.

Parameters
[in]cloudthe new point cloud

Definition at line 108 of file elch.h.

References pcl::registration::ELCH< PointT >::Vertex::cloud.

template<typename PointT >
void pcl::registration::ELCH< PointT >::compute ( )

Computes new poses for all point clouds by closing the loop between start and end point cloud.

This will transform all given point clouds for now!

Definition at line 219 of file elch.hpp.

References pcl::transformPointCloud().

Referenced by pcl::registration::ELCH< PointT >::setLoopTransform().

template<typename PointT >
boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopEnd ( )
inline

Getter for the last scan of a loop.

Definition at line 151 of file elch.h.

template<typename PointT >
LoopGraphPtr pcl::registration::ELCH< PointT >::getLoopGraph ( )
inline

Getter for the internal graph.

Definition at line 119 of file elch.h.

template<typename PointT >
boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopStart ( )
inline

Getter for the first scan of a loop.

Definition at line 135 of file elch.h.

template<typename PointT >
Eigen::Matrix4f pcl::registration::ELCH< PointT >::getLoopTransform ( )
inline

Getter for the transformation between the first and the last scan.

Definition at line 183 of file elch.h.

template<typename PointT >
RegistrationPtr pcl::registration::ELCH< PointT >::getReg ( )
inline

Getter for the registration algorithm.

Definition at line 167 of file elch.h.

template<typename PointT >
bool pcl::registration::ELCH< PointT >::initCompute ( )
protectedvirtual

This method should get called before starting the actual computation.

Definition at line 159 of file elch.hpp.

Referenced by pcl::registration::ELCH< PointT >::setLoopTransform().

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopEnd ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor &  loop_end)
inline

Setter for the last scan of a loop.

Parameters
[in]loop_endthe scan that ends the loop

Definition at line 160 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopGraph ( LoopGraphPtr  loop_graph)
inline

Setter for a new internal graph.

Parameters
[in]loop_graphthe new graph

Definition at line 128 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopStart ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor &  loop_start)
inline

Setter for the first scan of a loop.

Parameters
[in]loop_startthe scan that starts the loop

Definition at line 144 of file elch.h.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setLoopTransform ( const Eigen::Matrix4f &  loop_transform)
inline

Setter for the transformation between the first and the last scan.

Parameters
[in]loop_transformthe transformation between the first and the last scan

Definition at line 192 of file elch.h.

References pcl::registration::ELCH< PointT >::compute(), pcl::registration::ELCH< PointT >::initCompute(), and PCL_MAKE_ALIGNED_OPERATOR_NEW.

template<typename PointT >
void pcl::registration::ELCH< PointT >::setReg ( RegistrationPtr  reg)
inline

Setter for the registration algorithm.

Parameters
[in]regthe registration algorithm used to compute the transformation between the start and the end of the loop

Definition at line 176 of file elch.h.


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