ELCH (Explicit Loop Closing Heuristic) class More...
#include <elch.h>
Inheritance diagram for pcl::registration::ELCH< PointT >:
Classes | |
| struct | Vertex |
Public Types | |
| typedef boost::shared_ptr < const ELCH< PointT > > | ConstPtr |
| typedef boost::adjacency_list < boost::listS, boost::vecS, boost::undirectedS, Vertex, boost::no_property > | LoopGraph |
| graph structure to hold the SLAM graph | |
| typedef boost::shared_ptr < LoopGraph > | LoopGraphPtr |
| typedef pcl::PointCloud< PointT > | PointCloud |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef boost::shared_ptr < ELCH< PointT > > | Ptr |
| typedef pcl::Registration < PointT, PointT > | Registration |
| typedef Registration::ConstPtr | RegistrationConstPtr |
| typedef Registration::Ptr | RegistrationPtr |
Public Member Functions | |
| void | addPointCloud (PointCloudPtr cloud) |
| Add a new point cloud to the internal graph. | |
| void | compute () |
| Computes now poses for all point clouds by closing the loop between start and end point cloud. This will transform all given point clouds for now! | |
| ELCH () | |
| Empty constructor. | |
| boost::graph_traits< LoopGraph > ::vertex_descriptor | getLoopEnd () |
| Getter for the last scan of a loop. | |
| LoopGraphPtr | getLoopGraph () |
| Getter for the internal graph. | |
| boost::graph_traits< LoopGraph > ::vertex_descriptor | getLoopStart () |
| Getter for the first scan of a loop. | |
| Eigen::Matrix4f | getLoopTransform () |
| Getter for the transformation between the first and the last scan. | |
| RegistrationPtr | getReg () |
| Getter for the registration algorithm. | |
| void | setLoopEnd (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end) |
| Setter for the last scan of a loop. | |
| void | setLoopGraph (LoopGraphPtr loop_graph) |
| Setter for a new internal graph. | |
| void | setLoopStart (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start) |
| Setter for the first scan of a loop. | |
| void | setLoopTransform (const Eigen::Matrix4f &loop_transform) |
| Setter for the transformation between the first and the last scan. | |
| void | setReg (RegistrationPtr reg) |
| Setter for the registration algorithm. | |
Protected Member Functions | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. | |
Private Types | |
| typedef boost::adjacency_list < boost::listS, boost::vecS, boost::undirectedS, boost::no_property, boost::property < boost::edge_weight_t, double > > | LOAGraph |
| graph structure for the internal optimization graph | |
Private Member Functions | |
| void | loopOptimizerAlgorithm (LOAGraph &g, double *weights) |
Private Attributes | |
| bool | compute_loop_ |
| boost::graph_traits< LoopGraph > ::vertex_descriptor | loop_end_ |
| The last scan of the loop. | |
| LoopGraphPtr | loop_graph_ |
| The internal loop graph. | |
| boost::graph_traits< LoopGraph > ::vertex_descriptor | loop_start_ |
| The first scan of the loop. | |
| Eigen::Matrix4f | loop_transform_ |
| The transformation between that start and end of the loop. | |
| RegistrationPtr | reg_ |
| The registration object used to close the loop. | |
| boost::graph_traits< LoopGraph > ::vertex_descriptor | vd_ |
| previously added node in the loop_graph_. | |
Detailed Description
template<typename PointT>
class pcl::registration::ELCH< PointT >
ELCH (Explicit Loop Closing Heuristic) class
Member Typedef Documentation
template<typename PointT>
| typedef boost::shared_ptr< const ELCH<PointT> > pcl::registration::ELCH< PointT >::ConstPtr |
template<typename PointT>
typedef boost::adjacency_list< boost::listS, boost::vecS, boost::undirectedS, boost::no_property, boost::property< boost::edge_weight_t, double > > pcl::registration::ELCH< PointT >::LOAGraph [private] |
template<typename PointT>
| typedef boost::adjacency_list< boost::listS, boost::vecS, boost::undirectedS, Vertex, boost::no_property> pcl::registration::ELCH< PointT >::LoopGraph |
template<typename PointT>
| typedef boost::shared_ptr< LoopGraph > pcl::registration::ELCH< PointT >::LoopGraphPtr |
template<typename PointT>
| typedef pcl::PointCloud<PointT> pcl::registration::ELCH< PointT >::PointCloud |
Reimplemented from pcl::PCLBase< PointT >.
template<typename PointT>
| typedef PointCloud::ConstPtr pcl::registration::ELCH< PointT >::PointCloudConstPtr |
Reimplemented from pcl::PCLBase< PointT >.
template<typename PointT>
| typedef PointCloud::Ptr pcl::registration::ELCH< PointT >::PointCloudPtr |
Reimplemented from pcl::PCLBase< PointT >.
template<typename PointT>
| typedef boost::shared_ptr< ELCH<PointT> > pcl::registration::ELCH< PointT >::Ptr |
template<typename PointT>
| typedef pcl::Registration<PointT, PointT> pcl::registration::ELCH< PointT >::Registration |
template<typename PointT>
| typedef Registration::ConstPtr pcl::registration::ELCH< PointT >::RegistrationConstPtr |
template<typename PointT>
| typedef Registration::Ptr pcl::registration::ELCH< PointT >::RegistrationPtr |
Constructor & Destructor Documentation
template<typename PointT>
| pcl::registration::ELCH< PointT >::ELCH | ( | ) | [inline] |
Member Function Documentation
template<typename PointT>
| void pcl::registration::ELCH< PointT >::addPointCloud | ( | PointCloudPtr | cloud | ) | [inline] |
template<typename PointT >
| void pcl::registration::ELCH< PointT >::compute | ( | ) |
template<typename PointT>
| boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopEnd | ( | ) | [inline] |
template<typename PointT>
| LoopGraphPtr pcl::registration::ELCH< PointT >::getLoopGraph | ( | ) | [inline] |
template<typename PointT>
| boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopStart | ( | ) | [inline] |
template<typename PointT>
| Eigen::Matrix4f pcl::registration::ELCH< PointT >::getLoopTransform | ( | ) | [inline] |
template<typename PointT>
| RegistrationPtr pcl::registration::ELCH< PointT >::getReg | ( | ) | [inline] |
template<typename PointT >
| bool pcl::registration::ELCH< PointT >::initCompute | ( | ) | [protected, virtual] |
This method should get called before starting the actual computation.
Reimplemented from pcl::PCLBase< PointT >.
template<typename PointT >
| void pcl::registration::ELCH< PointT >::loopOptimizerAlgorithm | ( | LOAGraph & | g, |
| double * | weights | ||
| ) | [private] |
template<typename PointT>
| void pcl::registration::ELCH< PointT >::setLoopEnd | ( | const typename boost::graph_traits< LoopGraph >::vertex_descriptor & | loop_end | ) | [inline] |
template<typename PointT>
| void pcl::registration::ELCH< PointT >::setLoopGraph | ( | LoopGraphPtr | loop_graph | ) | [inline] |
template<typename PointT>
| void pcl::registration::ELCH< PointT >::setLoopStart | ( | const typename boost::graph_traits< LoopGraph >::vertex_descriptor & | loop_start | ) | [inline] |
template<typename PointT>
| void pcl::registration::ELCH< PointT >::setLoopTransform | ( | const Eigen::Matrix4f & | loop_transform | ) | [inline] |
template<typename PointT>
| void pcl::registration::ELCH< PointT >::setReg | ( | RegistrationPtr | reg | ) | [inline] |
Member Data Documentation
template<typename PointT>
bool pcl::registration::ELCH< PointT >::compute_loop_ [private] |
template<typename PointT>
boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::loop_end_ [private] |
template<typename PointT>
LoopGraphPtr pcl::registration::ELCH< PointT >::loop_graph_ [private] |
template<typename PointT>
boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::loop_start_ [private] |
template<typename PointT>
Eigen::Matrix4f pcl::registration::ELCH< PointT >::loop_transform_ [private] |
template<typename PointT>
RegistrationPtr pcl::registration::ELCH< PointT >::reg_ [private] |
template<typename PointT>
boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::vd_ [private] |
The documentation for this class was generated from the following files: