Point Cloud Library (PCL) 1.15.1
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List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::PairwiseGraphRegistration< GraphT, PointT > Class Template Reference
Module registration

PairwiseGraphRegistration class aligns the clouds two by two More...

#include <pcl/registration/pairwise_graph_registration.h>

Inheritance 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
using GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex

Public Member Functions

 PairwiseGraphRegistration ()
 Empty constructor.
 PairwiseGraphRegistration (const RegistrationPtr &reg, bool incremental)
 Constructor.
void setRegistrationMethod (const RegistrationPtr &reg)
 Set the registration object.
RegistrationPtr getRegistrationMethod ()
 Get the registration object.
void setIncremental (bool incremental)
 If True the initial transformation is always set to the Identity.
bool isIncremental () const
 Is incremental ?
Public Member Functions inherited from pcl::GraphRegistration< GraphT >
 GraphRegistration ()
 Empty constructor.
virtual ~GraphRegistration ()=default
 Empty destructor.
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.
void setGraphHandler (GraphHandlerPtr &gh)
 Set the graph handler.
GraphHandlerPtr getGraphHandler ()
 Get a pointer to the graph handler.
GraphHandlerConstPtr getGraphHandler () const
 Get a pointer to the graph handler.
void compute ()
 Check if new poses have been added, then call the registration method which is implemented by the subclasses.

Protected Attributes

RegistrationPtr registration_method_
 The registration object.
bool incremental_
 If True the initial transformation is always set to the Identity.
Protected Attributes inherited from pcl::GraphRegistration< GraphT >
GraphHandlerPtr graph_handler_
 The graph handler.
GraphHandlerVertex last_aligned_vertex_
 The last estimated pose.
std::vector< GraphHandlerVertex > last_vertices_
 The vertices added to the graph since the last call to compute.

Detailed Description

template<typename GraphT, typename PointT>
class pcl::PairwiseGraphRegistration< GraphT, PointT >

PairwiseGraphRegistration class aligns the clouds two by two

Author
Nicola Fioraio

Definition at line 52 of file pairwise_graph_registration.h.

Member Typedef Documentation

◆ GraphHandlerVertex

template<typename GraphT, typename PointT>
using pcl::PairwiseGraphRegistration< GraphT, PointT >::GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex

Definition at line 59 of file pairwise_graph_registration.h.

◆ RegistrationPtr

template<typename GraphT, typename PointT>
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]

template<typename GraphT, typename PointT>
pcl::PairwiseGraphRegistration< GraphT, PointT >::PairwiseGraphRegistration ( )
inline

Empty constructor.

Definition at line 62 of file pairwise_graph_registration.h.

References incremental_, and registration_method_.

◆ PairwiseGraphRegistration() [2/2]

template<typename GraphT, typename PointT>
pcl::PairwiseGraphRegistration< GraphT, PointT >::PairwiseGraphRegistration ( const RegistrationPtr & reg,
bool incremental )
inline

Constructor.

Definition at line 64 of file pairwise_graph_registration.h.

References incremental_, and registration_method_.

Member Function Documentation

◆ getRegistrationMethod()

template<typename GraphT, typename PointT>
RegistrationPtr pcl::PairwiseGraphRegistration< GraphT, PointT >::getRegistrationMethod ( )
inline

Get the registration object.

Definition at line 77 of file pairwise_graph_registration.h.

References registration_method_.

◆ isIncremental()

template<typename GraphT, typename PointT>
bool pcl::PairwiseGraphRegistration< GraphT, PointT >::isIncremental ( ) const
inline

Is incremental ?

Definition at line 91 of file pairwise_graph_registration.h.

References incremental_.

◆ setIncremental()

template<typename GraphT, typename PointT>
void pcl::PairwiseGraphRegistration< GraphT, PointT >::setIncremental ( bool incremental)
inline

If True the initial transformation is always set to the Identity.

Definition at line 84 of file pairwise_graph_registration.h.

References incremental_.

◆ setRegistrationMethod()

template<typename GraphT, typename PointT>
void pcl::PairwiseGraphRegistration< GraphT, PointT >::setRegistrationMethod ( const RegistrationPtr & reg)
inline

Set the registration object.

Definition at line 70 of file pairwise_graph_registration.h.

References registration_method_.

Member Data Documentation

◆ incremental_

template<typename GraphT, typename PointT>
bool pcl::PairwiseGraphRegistration< GraphT, PointT >::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 isIncremental(), PairwiseGraphRegistration(), PairwiseGraphRegistration(), and setIncremental().

◆ registration_method_

template<typename GraphT, typename PointT>
RegistrationPtr pcl::PairwiseGraphRegistration< GraphT, PointT >::registration_method_
protected

The registration object.

Definition at line 98 of file pairwise_graph_registration.h.

Referenced by getRegistrationMethod(), PairwiseGraphRegistration(), PairwiseGraphRegistration(), and setRegistrationMethod().

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