Point Cloud Library (PCL)  1.8.1-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

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

Public Member Functions

 ELCH ()
 Empty constructor. More...
 
virtual ~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 >
typedef boost::shared_ptr< const ELCH<PointT> > pcl::registration::ELCH< PointT >::ConstPtr

Definition at line 66 of file elch.h.

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

graph structure to hold the SLAM graph

Definition at line 84 of file elch.h.

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

Definition at line 86 of file elch.h.

template<typename PointT >
typedef pcl::PointCloud<PointT> pcl::registration::ELCH< PointT >::PointCloud

Definition at line 68 of file elch.h.

Definition at line 70 of file elch.h.

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

Definition at line 69 of file elch.h.

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

Definition at line 65 of file elch.h.

template<typename PointT >
typedef pcl::Registration<PointT, PointT> pcl::registration::ELCH< PointT >::Registration

Definition at line 88 of file elch.h.

Definition at line 90 of file elch.h.

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

Definition at line 89 of file elch.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 93 of file elch.h.

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

Empty destructor.

Definition at line 104 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 110 of file elch.h.

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 218 of file elch.hpp.

References pcl::transformPointCloud().

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 153 of file elch.h.

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

Getter for the internal graph.

Definition at line 121 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 137 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 185 of file elch.h.

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

Getter for the registration algorithm.

Definition at line 169 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 158 of file elch.hpp.

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 162 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 130 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 146 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 194 of file elch.h.

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 178 of file elch.h.


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