Point Cloud Library (PCL)
1.7.2
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PairwiseGraphRegistration class aligns the clouds two by two More...
#include <pcl/registration/pairwise_graph_registration.h>
Public Types | |
typedef Registration< PointT, PointT >::Ptr | RegistrationPtr |
typedef pcl::registration::GraphHandler< GraphT >::Vertex | GraphHandlerVertex |
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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 | |
virtual | ~PairwiseGraphRegistration () |
Empty destructor. More... | |
PairwiseGraphRegistration () | |
Empty constructor. More... | |
PairwiseGraphRegistration (const RegistrationPtr ®, bool incremental) | |
Constructor. More... | |
void | setRegistrationMethod (const RegistrationPtr ®) |
Set the registration object. More... | |
RegistrationPtr | getRegistrationMethod () |
Get the registration object. More... | |
void | setIncremental (bool incremental) |
If True the initial transformation is always set to the Identity. More... | |
bool | isIncremental () const |
Is incremental ? More... | |
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GraphRegistration () | |
Empty constructor. More... | |
virtual | ~GraphRegistration () |
Empty destructor. More... | |
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. More... | |
void | setGraphHandler (GraphHandlerPtr &gh) |
Set the graph handler. More... | |
GraphHandlerPtr | getGraphHandler () |
Get a pointer to the graph handler. More... | |
GraphHandlerConstPtr | getGraphHandler () const |
Get a pointer to the graph handler. More... | |
void | compute () |
Check if new poses have been added, then call the registration method which is implemented by the subclasses. More... | |
Protected Attributes | |
RegistrationPtr | registration_method_ |
The registration object. More... | |
bool | incremental_ |
If True the initial transformation is always set to the Identity. More... | |
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GraphHandlerPtr | graph_handler_ |
The graph handler. More... | |
GraphHandlerVertex | last_aligned_vertex_ |
The last estimated pose. More... | |
std::vector< GraphHandlerVertex > | last_vertices_ |
The vertices added to the graph since the last call to compute. More... | |
PairwiseGraphRegistration class aligns the clouds two by two
Definition at line 54 of file pairwise_graph_registration.h.
typedef pcl::registration::GraphHandler<GraphT>::Vertex pcl::PairwiseGraphRegistration< GraphT, PointT >::GraphHandlerVertex |
Definition at line 62 of file pairwise_graph_registration.h.
typedef Registration<PointT, PointT>::Ptr pcl::PairwiseGraphRegistration< GraphT, PointT >::RegistrationPtr |
Definition at line 61 of file pairwise_graph_registration.h.
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inlinevirtual |
Empty destructor.
Definition at line 65 of file pairwise_graph_registration.h.
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inline |
Empty constructor.
Definition at line 69 of file pairwise_graph_registration.h.
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inline |
Constructor.
Definition at line 72 of file pairwise_graph_registration.h.
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Get the registration object.
Definition at line 84 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.
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Is incremental ?
Definition at line 98 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_.
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If True the initial transformation is always set to the Identity.
Definition at line 91 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_.
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Set the registration object.
Definition at line 77 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.
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protected |
If True the initial transformation is always set to the Identity.
Definition at line 107 of file pairwise_graph_registration.h.
Referenced by pcl::PairwiseGraphRegistration< GraphT, PointT >::isIncremental(), and pcl::PairwiseGraphRegistration< GraphT, PointT >::setIncremental().
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protected |
The registration object.
Definition at line 105 of file pairwise_graph_registration.h.
Referenced by pcl::PairwiseGraphRegistration< GraphT, PointT >::getRegistrationMethod(), and pcl::PairwiseGraphRegistration< GraphT, PointT >::setRegistrationMethod().