Point Cloud Library (PCL): pcl::GraphRegistration< GraphT > Class Template Reference

Point Cloud Library (PCL) 1.7.2

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.
virtual	~GraphRegistration ()
	Empty destructor.
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.
void	setGraphHandler (GraphHandlerPtr &gh)
	Set the graph handler.
GraphHandlerPtr	getGraphHandler ()
	Get a pointer to the graph handler.
GraphHandlerConstPtr	getGraphHandler () const
	Get a pointer to the graph handler.
void	compute ()
	Check if new poses have been added, then call the registration method which is implemented by the subclasses.

Protected Attributes
GraphHandlerPtr	graph_handler_
	The graph handler.
GraphHandlerVertex	last_aligned_vertex_
	The last estimated pose.
std::vector< GraphHandlerVertex >	last_vertices_
	The vertices added to the graph since the last call to compute.

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

The graph handler.

Definition at line 114 of file graph_registration.h.

Referenced by pcl::GraphRegistration< GraphT >::addPointCloud(), pcl::GraphRegistration< GraphT >::getGraphHandler(), and pcl::GraphRegistration< GraphT >::setGraphHandler().

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:

/tmp/buildd/pcl-1.7.2/registration/include/pcl/registration/graph_registration.h