GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the following boost::graph concepts: More...

#include <pcl/registration/graph_handler.h>

Public Types
using	Ptr = shared_ptr< GraphHandler< GraphT > >

using	ConstPtr = shared_ptr< const GraphHandler< GraphT > >

using	GraphPtr = shared_ptr< GraphT >

using	GraphConstPtr = shared_ptr< const GraphT >

using	Vertex = typename boost::graph_traits< GraphT >::vertex_descriptor

using	Edge = typename boost::graph_traits< GraphT >::edge_descriptor

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

	~GraphHandler ()
	Destructor. More...

void	clear ()
	Clear the graph. More...

GraphConstPtr	getGraph () const
	Get a pointer to the BGL graph. More...

GraphPtr	getGraph ()
	Get a pointer to the BGL graph. More...

template<class PointT >
Vertex	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const Eigen::Matrix4f &pose)
	Add a new point cloud to the graph and return the new vertex. More...

template<class EstimateT >
Vertex	addGenericVertex (const EstimateT &estimate)
	Add a new generic vertex created according to the given estimate. More...

template<class InformationT >
Edge	addPoseConstraint (const Vertex &v_start, const Vertex &v_end, const Eigen::Matrix4f &relative_transformation, const InformationT &information_matrix)
	Add a new constraint between two poses. More...

template<class MeasurementT >
Edge	addGenericConstraint (const MeasurementT &measurement)
	Add a generic constraint created according to the given measurement. More...

void	removeVertex (const Vertex &v)
	Remove a vertex from the graph. More...

void	removeConstraint (const Edge &e)
	Remove a constraint from the graph. More...

Protected Member Functions
bool	init ()
	This method is called right after the creation of graph_impl_. More...

bool	deinit ()
	This method is called when graph_impl_ is going to be destroyed. More...

Detailed Description

template<typename GraphT>
class pcl::registration::GraphHandler< GraphT >

GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the following boost::graph concepts:

BidirectionalGraph
AdjacencyGraph
VertexAndEdgeListGraph
MutableGraph

Other valid expressions:

add_edge (m,g) add a new edge according to the given measurement. Return type: std::pair<edge_descriptor, bool>
add_vertex (e,g) add a new vertex according to the given estimate. Return type: vertex_descriptor
get_pose (v,g) retrieve the pose estimate for v, if any. Return type: Eigen::Matrix4f
get_cloud (v,g) retrieve the cloud pointer associated to v, if any. Return type: pcl::PointCloud<PointT>::ConstPtr
set_estimate (v,e,g) set the estimate for an existing vertex. Return type: void.
set_measurement (d,m,g) set the measurement for an existing edge. Return type: void. Notation:
m an edge measurement
e a vertex estimate
v a vertex
d an edge
g a graph A valid graph implementation should accept at least the PoseEstimate estimate and the PoseMeasurement measurement

If a specific graph implementation needs initialization and/or finalization, specialize the protected methods init() and deinit() for your graph type

Author: Nicola Fioraio

Definition at line 85 of file graph_handler.h.

Member Typedef Documentation

◆ ConstPtr

template<typename GraphT >

using pcl::registration::GraphHandler< GraphT >::ConstPtr = shared_ptr<const GraphHandler<GraphT> >

Definition at line 88 of file graph_handler.h.

◆ Edge

template<typename GraphT >

using pcl::registration::GraphHandler< GraphT >::Edge = typename boost::graph_traits<GraphT>::edge_descriptor

Definition at line 93 of file graph_handler.h.

◆ GraphConstPtr

template<typename GraphT >

using pcl::registration::GraphHandler< GraphT >::GraphConstPtr = shared_ptr<const GraphT>

Definition at line 90 of file graph_handler.h.

◆ GraphPtr

template<typename GraphT >

using pcl::registration::GraphHandler< GraphT >::GraphPtr = shared_ptr<GraphT>

Definition at line 89 of file graph_handler.h.

◆ Ptr

template<typename GraphT >

using pcl::registration::GraphHandler< GraphT >::Ptr = shared_ptr<GraphHandler<GraphT> >

Definition at line 87 of file graph_handler.h.

◆ Vertex

template<typename GraphT >

using pcl::registration::GraphHandler< GraphT >::Vertex = typename boost::graph_traits<GraphT>::vertex_descriptor

Definition at line 92 of file graph_handler.h.

Constructor & Destructor Documentation

◆ GraphHandler()

template<typename GraphT >

pcl::registration::GraphHandler< GraphT >::GraphHandler ( )

inline

Empty constructor.

Definition at line 96 of file graph_handler.h.

References pcl::registration::GraphHandler< GraphT >::init().

◆ ~GraphHandler()

template<typename GraphT >

pcl::registration::GraphHandler< GraphT >::~GraphHandler ( )

inline

Destructor.

Definition at line 106 of file graph_handler.h.

References pcl::registration::GraphHandler< GraphT >::deinit().

Member Function Documentation

◆ addGenericConstraint()

template<typename GraphT >

template<class MeasurementT >

Edge pcl::registration::GraphHandler< GraphT >::addGenericConstraint ( const MeasurementT & measurement )

inline

Add a generic constraint created according to the given measurement.

Parameters

measurement the measurement

Returns: a reference to the new edge

Definition at line 184 of file graph_handler.h.

◆ addGenericVertex()

template<typename GraphT >

template<class EstimateT >

Vertex pcl::registration::GraphHandler< GraphT >::addGenericVertex ( const EstimateT & estimate )

inline

Add a new generic vertex created according to the given estimate.

Parameters

estimate the parameters' estimate

Returns: a reference to the new vertex

Definition at line 154 of file graph_handler.h.

◆ addPointCloud()

template<typename GraphT >

template<class PointT >

Vertex pcl::registration::GraphHandler< GraphT >::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const Eigen::Matrix4f &	pose
	)

inline

Add a new point cloud to the graph and return the new vertex.

Parameters

cloud	the new point cloud
pose	the pose estimate

Returns: a reference to the new vertex

Definition at line 142 of file graph_handler.h.

◆ addPoseConstraint()

template<typename GraphT >

template<class InformationT >

Edge pcl::registration::GraphHandler< GraphT >::addPoseConstraint	(	const Vertex &	v_start,
		const Vertex &	v_end,
		const Eigen::Matrix4f &	relative_transformation,
		const InformationT &	information_matrix
	)

inline

Add a new constraint between two poses.

Parameters

v_start	the first pose
v_end	the second pose
relative_transformation	the transformation from v_start to v_end
information_matrix	the uncertainty

Returns: a reference to the new edge

Definition at line 168 of file graph_handler.h.

◆ clear()

template<typename GraphT >

void pcl::registration::GraphHandler< GraphT >::clear ( )

inline

Clear the graph.

Definition at line 110 of file graph_handler.h.

References pcl::registration::GraphHandler< GraphT >::deinit(), and pcl::registration::GraphHandler< GraphT >::init().

◆ deinit()

template<typename GraphT >

bool pcl::registration::GraphHandler< GraphT >::deinit ( )

inlineprotected

This method is called when graph_impl_ is going to be destroyed.

Definition at line 217 of file graph_handler.h.

Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::~GraphHandler().

◆ getGraph() [1/2]

template<typename GraphT >

GraphPtr pcl::registration::GraphHandler< GraphT >::getGraph ( )

inline

Get a pointer to the BGL graph.

Definition at line 130 of file graph_handler.h.

◆ getGraph() [2/2]

template<typename GraphT >

GraphConstPtr pcl::registration::GraphHandler< GraphT >::getGraph ( ) const

inline

Get a pointer to the BGL graph.

Definition at line 123 of file graph_handler.h.

◆ init()

template<typename GraphT >

bool pcl::registration::GraphHandler< GraphT >::init ( )

inlineprotected

This method is called right after the creation of graph_impl_.

Definition at line 210 of file graph_handler.h.

Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::GraphHandler().

◆ removeConstraint()

template<typename GraphT >

void pcl::registration::GraphHandler< GraphT >::removeConstraint ( const Edge & e )

inline

Remove a constraint from the graph.

Parameters

e the edge

Definition at line 202 of file graph_handler.h.

◆ removeVertex()

template<typename GraphT >

void pcl::registration::GraphHandler< GraphT >::removeVertex ( const Vertex & v )

inline

Remove a vertex from the graph.

Parameters

v	the vertex

Definition at line 193 of file graph_handler.h.

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

pcl/registration/graph_handler.h

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename GraphT> class pcl::registration::GraphHandler< GraphT >

Member Typedef Documentation

◆ ConstPtr

◆ Edge

◆ GraphConstPtr

◆ GraphPtr

◆ Ptr

◆ Vertex

Constructor & Destructor Documentation

◆ GraphHandler()

◆ ~GraphHandler()

Member Function Documentation

◆ addGenericConstraint()

◆ addGenericVertex()

◆ addPointCloud()

◆ addPoseConstraint()

◆ clear()

◆ deinit()

◆ getGraph() [1/2]

◆ getGraph() [2/2]

◆ init()

◆ removeConstraint()

◆ removeVertex()

template<typename GraphT>
class pcl::registration::GraphHandler< GraphT >