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 | |
| using | GraphHandler = pcl::registration::GraphHandler< GraphT > |
| using | GraphHandlerPtr = typename pcl::registration::GraphHandler< GraphT >::Ptr |
| using | GraphHandlerConstPtr = typename pcl::registration::GraphHandler< GraphT >::ConstPtr |
| using | GraphHandlerVertex = typename pcl::registration::GraphHandler< GraphT >::Vertex |
Public Member Functions | |
| GraphRegistration () | |
| Empty constructor. More... | |
| virtual | ~GraphRegistration ()=default |
| 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 | |
| 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... | |
Detailed Description
template<typename GraphT>
class pcl::GraphRegistration< GraphT >
GraphRegistration class is the base class for graph-based registration methods
Definition at line 51 of file graph_registration.h.
Member Typedef Documentation
◆ GraphHandler
| using pcl::GraphRegistration< GraphT >::GraphHandler = pcl::registration::GraphHandler<GraphT> |
Definition at line 53 of file graph_registration.h.
◆ GraphHandlerConstPtr
| using pcl::GraphRegistration< GraphT >::GraphHandlerConstPtr = typename pcl::registration::GraphHandler<GraphT>::ConstPtr |
Definition at line 55 of file graph_registration.h.
◆ GraphHandlerPtr
| using pcl::GraphRegistration< GraphT >::GraphHandlerPtr = typename pcl::registration::GraphHandler<GraphT>::Ptr |
Definition at line 54 of file graph_registration.h.
◆ GraphHandlerVertex
| using pcl::GraphRegistration< GraphT >::GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex |
Definition at line 57 of file graph_registration.h.
Constructor & Destructor Documentation
◆ GraphRegistration()
|
inline |
Empty constructor.
Definition at line 60 of file graph_registration.h.
◆ ~GraphRegistration()
|
virtualdefault |
Empty destructor.
Member Function Documentation
◆ addPointCloud()
|
inline |
Add a point cloud and the associated camera pose to the graph.
Definition at line 72 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_, and pcl::GraphRegistration< GraphT >::last_vertices_.
◆ 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_.
◆ getGraphHandler() [1/2]
|
inline |
Get a pointer to the graph handler.
Definition at line 87 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_.
◆ getGraphHandler() [2/2]
|
inline |
Get a pointer to the graph handler.
Definition at line 94 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_.
◆ setGraphHandler()
|
inline |
Set the graph handler.
Definition at line 80 of file graph_registration.h.
References pcl::GraphRegistration< GraphT >::graph_handler_.
Member Data Documentation
◆ 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().
◆ last_aligned_vertex_
|
protected |
The last estimated pose.
Definition at line 116 of file graph_registration.h.
Referenced by pcl::GraphRegistration< GraphT >::compute().
◆ 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:
- pcl/registration/graph_registration.h