PairwiseGraphRegistration class aligns the clouds two by two More...
#include <pcl/registration/pairwise_graph_registration.h>
Inheritance diagram for pcl::PairwiseGraphRegistration< GraphT, PointT >:
Collaboration diagram for pcl::PairwiseGraphRegistration< GraphT, PointT >:
Public Types | |
| using | RegistrationPtr = typename Registration< PointT, PointT >::Ptr |
| using | GraphHandlerVertex = typename pcl::registration::GraphHandler< GraphT >::Vertex |
| Public Types inherited from pcl::GraphRegistration< GraphT > | |
| 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 | |
| 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... | |
| Public Member Functions inherited from pcl::GraphRegistration< GraphT > | |
| 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 | |
| RegistrationPtr | registration_method_ |
| The registration object. More... | |
| bool | incremental_ |
| If True the initial transformation is always set to the Identity. More... | |
| Protected Attributes inherited from pcl::GraphRegistration< GraphT > | |
| 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, typename PointT>
class pcl::PairwiseGraphRegistration< GraphT, PointT >
PairwiseGraphRegistration class aligns the clouds two by two
Definition at line 52 of file pairwise_graph_registration.h.
Member Typedef Documentation
◆ GraphHandlerVertex
| using pcl::PairwiseGraphRegistration< GraphT, PointT >::GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex |
Definition at line 59 of file pairwise_graph_registration.h.
◆ RegistrationPtr
| using pcl::PairwiseGraphRegistration< GraphT, PointT >::RegistrationPtr = typename Registration<PointT, PointT>::Ptr |
Definition at line 58 of file pairwise_graph_registration.h.
Constructor & Destructor Documentation
◆ PairwiseGraphRegistration() [1/2]
|
inline |
Empty constructor.
Definition at line 62 of file pairwise_graph_registration.h.
◆ PairwiseGraphRegistration() [2/2]
|
inline |
Constructor.
Definition at line 64 of file pairwise_graph_registration.h.
Member Function Documentation
◆ getRegistrationMethod()
|
inline |
Get the registration object.
Definition at line 77 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.
◆ isIncremental()
|
inline |
Is incremental ?
Definition at line 91 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_.
◆ setIncremental()
|
inline |
If True the initial transformation is always set to the Identity.
Definition at line 84 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::incremental_.
◆ setRegistrationMethod()
|
inline |
Set the registration object.
Definition at line 70 of file pairwise_graph_registration.h.
References pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_.
Member Data Documentation
◆ incremental_
|
protected |
If True the initial transformation is always set to the Identity.
Definition at line 100 of file pairwise_graph_registration.h.
Referenced by pcl::PairwiseGraphRegistration< GraphT, PointT >::isIncremental(), and pcl::PairwiseGraphRegistration< GraphT, PointT >::setIncremental().
◆ registration_method_
|
protected |
The registration object.
Definition at line 98 of file pairwise_graph_registration.h.
Referenced by pcl::PairwiseGraphRegistration< GraphT, PointT >::getRegistrationMethod(), and pcl::PairwiseGraphRegistration< GraphT, PointT >::setRegistrationMethod().
The documentation for this class was generated from the following files:
- pcl/registration/pairwise_graph_registration.h
- pcl/registration/impl/pairwise_graph_registration.hpp