GraphRegistration class is the base class for graph-based registration methods More...
#include <graph_registration.h>
Public Types | |
| typedef pcl::registration::GraphHandler < GraphT > | GraphHandler |
| typedef pcl::registration::GraphHandler < GraphT >::ConstPtr | GraphHandlerConstPtr |
| typedef pcl::registration::GraphHandler < GraphT >::Ptr | GraphHandlerPtr |
| typedef pcl::registration::GraphHandler < GraphT >::Vertex | GraphHandlerVertex |
Public Member Functions | |
| 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 | compute () |
| Check if new poses have been added, then call the registration method which is implemented by the subclasses. | |
| GraphHandlerPtr | getGraphHandler () |
| Get a pointer to the graph handler. | |
| GraphHandlerConstPtr | getGraphHandler () const |
| Get a pointer to the graph handler. | |
| GraphRegistration () | |
| Empty constructor. | |
| void | setGraphHandler (GraphHandlerPtr &gh) |
| Set the graph handler. | |
| virtual | ~GraphRegistration () |
| Empty destructor. | |
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. | |
Private Member Functions | |
| virtual void | computeRegistration ()=0 |
| The registration method. | |
Detailed Description
template<typename GraphT>
class pcl::GraphRegistration< GraphT >
GraphRegistration class is the base class for graph-based registration methods
Definition at line 54 of file graph_registration.h.
Member Typedef Documentation
| typedef pcl::registration::GraphHandler<GraphT> pcl::GraphRegistration< GraphT >::GraphHandler |
Definition at line 57 of file graph_registration.h.
| typedef pcl::registration::GraphHandler<GraphT>::ConstPtr pcl::GraphRegistration< GraphT >::GraphHandlerConstPtr |
Definition at line 59 of file graph_registration.h.
| typedef pcl::registration::GraphHandler<GraphT>::Ptr pcl::GraphRegistration< GraphT >::GraphHandlerPtr |
Definition at line 58 of file graph_registration.h.
| typedef pcl::registration::GraphHandler<GraphT>::Vertex pcl::GraphRegistration< GraphT >::GraphHandlerVertex |
Reimplemented in pcl::PairwiseGraphRegistration< GraphT, PointT >.
Definition at line 60 of file graph_registration.h.
Constructor & Destructor Documentation
| pcl::GraphRegistration< GraphT >::GraphRegistration | ( | ) | [inline] |
Empty constructor.
Definition at line 63 of file graph_registration.h.
| virtual pcl::GraphRegistration< GraphT >::~GraphRegistration | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 69 of file graph_registration.h.
Member Function Documentation
| 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.
| 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.
| virtual void pcl::GraphRegistration< GraphT >::computeRegistration | ( | ) | [private, pure virtual] |
The registration method.
Implemented in pcl::PairwiseGraphRegistration< GraphT, PointT >.
| GraphHandlerPtr pcl::GraphRegistration< GraphT >::getGraphHandler | ( | ) | [inline] |
Get a pointer to the graph handler.
Definition at line 87 of file graph_registration.h.
| GraphHandlerConstPtr pcl::GraphRegistration< GraphT >::getGraphHandler | ( | ) | const [inline] |
Get a pointer to the graph handler.
Definition at line 94 of file graph_registration.h.
| void pcl::GraphRegistration< GraphT >::setGraphHandler | ( | GraphHandlerPtr & | gh | ) | [inline] |
Set the graph handler.
Definition at line 80 of file graph_registration.h.
Member Data Documentation
GraphHandlerPtr pcl::GraphRegistration< GraphT >::graph_handler_ [protected] |
The graph handler.
Definition at line 114 of file graph_registration.h.
GraphHandlerVertex pcl::GraphRegistration< GraphT >::last_aligned_vertex_ [protected] |
The last estimated pose.
Definition at line 116 of file graph_registration.h.
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.
The documentation for this class was generated from the following file: