ELCH (Explicit Loop Closing Heuristic) class More...

#include <pcl/registration/elch.h>

Inheritance diagram for pcl::registration::ELCH< PointT >:

Collaboration diagram for pcl::registration::ELCH< PointT >:

Classes
struct	Vertex

Public Types
using	Ptr = shared_ptr< ELCH< PointT > >

using	ConstPtr = shared_ptr< const ELCH< PointT > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	LoopGraph = boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property >
	graph structure to hold the SLAM graph More...

using	LoopGraphPtr = shared_ptr< LoopGraph >

using	Registration = pcl::Registration< PointT, PointT >

using	RegistrationPtr = typename Registration::Ptr

using	RegistrationConstPtr = typename Registration::ConstPtr

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	ELCH ()
	Empty constructor. More...

	~ELCH () override=default
	Empty destructor. More...

void	addPointCloud (PointCloudPtr cloud)
	Add a new point cloud to the internal graph. More...

LoopGraphPtr	getLoopGraph ()
	Getter for the internal graph. More...

void	setLoopGraph (LoopGraphPtr loop_graph)
	Setter for a new internal graph. More...

boost::graph_traits< LoopGraph >::vertex_descriptor	getLoopStart ()
	Getter for the first scan of a loop. More...

void	setLoopStart (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start)
	Setter for the first scan of a loop. More...

boost::graph_traits< LoopGraph >::vertex_descriptor	getLoopEnd ()
	Getter for the last scan of a loop. More...

void	setLoopEnd (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end)
	Setter for the last scan of a loop. More...

RegistrationPtr	getReg ()
	Getter for the registration algorithm. More...

void	setReg (RegistrationPtr reg)
	Setter for the registration algorithm. More...

Eigen::Matrix4f	getLoopTransform ()
	Getter for the transformation between the first and the last scan. More...

void	setLoopTransform (const Eigen::Matrix4f &loop_transform)
	Setter for the transformation between the first and the last scan. More...

void	compute ()
	Computes new poses for all point clouds by closing the loop between start and end point cloud. More...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Additional Inherited Members
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointT>
class pcl::registration::ELCH< PointT >

ELCH (Explicit Loop Closing Heuristic) class

Author: Jochen Sprickerhof

Definition at line 59 of file elch.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::registration::ELCH< PointT >::ConstPtr = shared_ptr<const ELCH<PointT> >

Definition at line 62 of file elch.h.

◆ LoopGraph

template<typename PointT >

using pcl::registration::ELCH< PointT >::LoopGraph = boost::adjacency_list<boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property>

graph structure to hold the SLAM graph

Definition at line 75 of file elch.h.

◆ LoopGraphPtr

template<typename PointT >

using pcl::registration::ELCH< PointT >::LoopGraphPtr = shared_ptr<LoopGraph>

Definition at line 81 of file elch.h.

◆ PointCloud

template<typename PointT >

using pcl::registration::ELCH< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 64 of file elch.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::registration::ELCH< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 66 of file elch.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::registration::ELCH< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 65 of file elch.h.

◆ Ptr

template<typename PointT >

using pcl::registration::ELCH< PointT >::Ptr = shared_ptr<ELCH<PointT> >

Definition at line 61 of file elch.h.

◆ Registration

template<typename PointT >

using pcl::registration::ELCH< PointT >::Registration = pcl::Registration<PointT, PointT>

Definition at line 83 of file elch.h.

◆ RegistrationConstPtr

template<typename PointT >

using pcl::registration::ELCH< PointT >::RegistrationConstPtr = typename Registration::ConstPtr

Definition at line 85 of file elch.h.

◆ RegistrationPtr

template<typename PointT >

using pcl::registration::ELCH< PointT >::RegistrationPtr = typename Registration::Ptr

Definition at line 84 of file elch.h.

Constructor & Destructor Documentation

◆ ELCH()

template<typename PointT >

pcl::registration::ELCH< PointT >::ELCH ( )

inline

Empty constructor.

Definition at line 88 of file elch.h.

◆ ~ELCH()

template<typename PointT >

pcl::registration::ELCH< PointT >::~ELCH ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ addPointCloud()

template<typename PointT >

void pcl::registration::ELCH< PointT >::addPointCloud ( PointCloudPtr cloud )

inline

Add a new point cloud to the internal graph.

Parameters

[in] cloud the new point cloud

Definition at line 102 of file elch.h.

◆ compute()

template<typename PointT >

void pcl::registration::ELCH< PointT >::compute

Computes new poses for all point clouds by closing the loop between start and end point cloud.

This will transform all given point clouds for now!

Definition at line 216 of file elch.hpp.

References pcl::transformPointCloud().

◆ getLoopEnd()

template<typename PointT >

boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopEnd ( )

inline

Getter for the last scan of a loop.

Definition at line 147 of file elch.h.

◆ getLoopGraph()

template<typename PointT >

LoopGraphPtr pcl::registration::ELCH< PointT >::getLoopGraph ( )

inline

Getter for the internal graph.

Definition at line 114 of file elch.h.

◆ getLoopStart()

template<typename PointT >

boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopStart ( )

inline

Getter for the first scan of a loop.

Definition at line 130 of file elch.h.

◆ getLoopTransform()

template<typename PointT >

Eigen::Matrix4f pcl::registration::ELCH< PointT >::getLoopTransform ( )

inline

Getter for the transformation between the first and the last scan.

Definition at line 180 of file elch.h.

◆ getReg()

template<typename PointT >

RegistrationPtr pcl::registration::ELCH< PointT >::getReg ( )

inline

Getter for the registration algorithm.

Definition at line 163 of file elch.h.

◆ initCompute()

template<typename PointT >

bool pcl::registration::ELCH< PointT >::initCompute

protectedvirtual

This method should get called before starting the actual computation.

Definition at line 154 of file elch.hpp.

◆ setLoopEnd()

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopEnd ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor & loop_end )

inline

Setter for the last scan of a loop.

Parameters

[in] loop_end the scan that ends the loop

Definition at line 156 of file elch.h.

◆ setLoopGraph()

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopGraph ( LoopGraphPtr loop_graph )

inline

Setter for a new internal graph.

Parameters

[in] loop_graph the new graph

Definition at line 123 of file elch.h.

◆ setLoopStart()

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopStart ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor & loop_start )

inline

Setter for the first scan of a loop.

Parameters

[in] loop_start the scan that starts the loop

Definition at line 139 of file elch.h.

◆ setLoopTransform()

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopTransform ( const Eigen::Matrix4f & loop_transform )

inline

Setter for the transformation between the first and the last scan.

Parameters

[in] loop_transform the transformation between the first and the last scan

Definition at line 189 of file elch.h.

◆ setReg()

template<typename PointT >

void pcl::registration::ELCH< PointT >::setReg ( RegistrationPtr reg )

inline

Setter for the registration algorithm.

Parameters

[in] reg the registration algorithm used to compute the transformation between the start and the end of the loop

Definition at line 173 of file elch.h.

The documentation for this class was generated from the following files:

pcl/registration/elch.h
pcl/registration/impl/elch.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT> class pcl::registration::ELCH< PointT >

Member Typedef Documentation

◆ ConstPtr

◆ LoopGraph

◆ LoopGraphPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ Registration

◆ RegistrationConstPtr

◆ RegistrationPtr

Constructor & Destructor Documentation

◆ ELCH()

◆ ~ELCH()

Member Function Documentation

◆ addPointCloud()

◆ compute()

◆ getLoopEnd()

◆ getLoopGraph()

◆ getLoopStart()

◆ getLoopTransform()

◆ getReg()

◆ initCompute()

◆ setLoopEnd()

◆ setLoopGraph()

◆ setLoopStart()

◆ setLoopTransform()

◆ setReg()

template<typename PointT>
class pcl::registration::ELCH< PointT >