Point Cloud Library (PCL)
1.3.1
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ELCH (Explicit Loop Closing Heuristic) class More...
#include <pcl/registration/elch.h>
Public Types | |
typedef boost::shared_ptr < ELCH< PointT > > | Ptr |
typedef boost::shared_ptr < const ELCH< PointT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::undirectedS, PointCloudPtr, boost::no_property > | LoopGraph |
graph structure to hold the SLAM graph | |
typedef pcl::Registration < PointT, PointT > | Registration |
typedef Registration::Ptr | RegistrationPtr |
typedef Registration::ConstPtr | RegistrationConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
ELCH () | |
Empty constructor. | |
void | addPointCloud (PointCloudConstPtr cloud) |
Add a new point cloud to the internal graph. | |
LoopGraph | getLoopGraph () |
Getter for the internal graph. | |
void | setLoopGraph (LoopGraph loop_graph) |
Setter for a new internal graph. | |
PointCloudConstPtr | getLoopStart () |
Getter for the first scan of a loop. | |
void | setLoopStart (PointCloudConstPtr loop_start) |
Setter for the first scan of a loop. | |
PointCloudConstPtr | getLoopend () |
Getter for the last scan of a loop. | |
void | setLoopend (PointCloudConstPtr loop_end) |
Setter for the last scan of a loop. | |
RegistrationConstPtr | getReg () |
Getter for the registration algorithm. | |
void | setReg (RegistrationConstPtr reg) |
Setter for the registration algorithm. | |
Eigen::Affine3f & | getLoopTransform () |
Getter for the transformation between the first and the last scan. | |
void | setLoopTransform (Eigen::Affine3f &loop_transform) |
Setter for the transformation between the first and the last scan. | |
void | compute () |
Computes now poses for all point clouds by closing the loop between start and end point cloud. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
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. | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. |
ELCH (Explicit Loop Closing Heuristic) class
typedef boost::shared_ptr< const ELCH<PointT> > pcl::registration::ELCH::ConstPtr |
typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, PointCloudPtr, boost::no_property> pcl::registration::ELCH::LoopGraph |
typedef pcl::PointCloud<PointT> pcl::registration::ELCH::PointCloud |
Reimplemented from pcl::PCLBase< PointT >.
Reimplemented from pcl::PCLBase< PointT >.
Reimplemented from pcl::PCLBase< PointT >.
typedef PointIndices::ConstPtr pcl::PCLBase::PointIndicesConstPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase::PointIndicesPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 78 of file pcl_base.h.
typedef boost::shared_ptr< ELCH<PointT> > pcl::registration::ELCH::Ptr |
typedef pcl::Registration<PointT, PointT> pcl::registration::ELCH::Registration |
void pcl::registration::ELCH::addPointCloud | ( | PointCloudConstPtr | cloud | ) | [inline] |
void pcl::registration::ELCH::compute | ( | ) |
IndicesPtr const pcl::PCLBase::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 171 of file pcl_base.h.
PointCloudConstPtr const pcl::PCLBase::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
PointCloudConstPtr pcl::registration::ELCH::getLoopend | ( | ) | [inline] |
LoopGraph pcl::registration::ELCH::getLoopGraph | ( | ) | [inline] |
PointCloudConstPtr pcl::registration::ELCH::getLoopStart | ( | ) | [inline] |
Eigen::Affine3f& pcl::registration::ELCH::getLoopTransform | ( | ) | [inline] |
RegistrationConstPtr pcl::registration::ELCH::getReg | ( | ) | [inline] |
const PointT& pcl::PCLBase::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
pos | position in indices_ vector |
Definition at line 178 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 105 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 116 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | size_t | row_start, |
size_t | col_start, | ||
size_t | nb_rows, | ||
size_t | nb_cols | ||
) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the number of columns to be considered col_start included |
Definition at line 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 95 of file pcl_base.h.
void pcl::registration::ELCH::setLoopend | ( | PointCloudConstPtr | loop_end | ) | [inline] |
void pcl::registration::ELCH::setLoopGraph | ( | LoopGraph | loop_graph | ) | [inline] |
void pcl::registration::ELCH::setLoopStart | ( | PointCloudConstPtr | loop_start | ) | [inline] |
void pcl::registration::ELCH::setLoopTransform | ( | Eigen::Affine3f & | loop_transform | ) | [inline] |
void pcl::registration::ELCH::setReg | ( | RegistrationConstPtr | reg | ) | [inline] |