ELCH (Explicit Loop Closing Heuristic) class More...
#include <pcl/registration/elch.h>
Classes | |
| struct | Vertex |
Public Types | |
| typedef boost::shared_ptr < ELCH< PointT > > | Ptr |
| typedef boost::shared_ptr < const ELCH< PointT > > | ConstPtr |
| typedef pcl::PointCloud< PointT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef boost::adjacency_list < boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property > | LoopGraph |
| graph structure to hold the SLAM graph | |
| typedef boost::shared_ptr < LoopGraph > | LoopGraphPtr |
| typedef pcl::Registration < PointT, PointT > | Registration |
| typedef Registration::Ptr | RegistrationPtr |
| typedef Registration::ConstPtr | RegistrationConstPtr |
Public Member Functions | |
| ELCH () | |
| Empty constructor. | |
| virtual | ~ELCH () |
| Empty destructor. | |
| void | addPointCloud (PointCloudPtr cloud) |
| Add a new point cloud to the internal graph. | |
| LoopGraphPtr | getLoopGraph () |
| Getter for the internal graph. | |
| void | setLoopGraph (LoopGraphPtr loop_graph) |
| Setter for a new internal graph. | |
| boost::graph_traits< LoopGraph > ::vertex_descriptor | getLoopStart () |
| Getter for the first scan of a loop. | |
| void | setLoopStart (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start) |
| Setter for the first scan of a loop. | |
| boost::graph_traits< LoopGraph > ::vertex_descriptor | getLoopEnd () |
| Getter for the last scan of a loop. | |
| void | setLoopEnd (const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end) |
| Setter for the last scan of a loop. | |
| RegistrationPtr | getReg () |
| Getter for the registration algorithm. | |
| void | setReg (RegistrationPtr reg) |
| Setter for the registration algorithm. | |
| Eigen::Matrix4f | getLoopTransform () |
| Getter for the transformation between the first and the last scan. | |
| void | setLoopTransform (const Eigen::Matrix4f &loop_transform) |
| Setter for the transformation between the first and the last scan. | |
| void | compute () |
| Computes now poses for all point clouds by closing the loop between start and end point cloud. | |
Protected Member Functions | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. | |
ELCH (Explicit Loop Closing Heuristic) class
Definition at line 62 of file elch.h.
| typedef boost::shared_ptr< const ELCH<PointT> > pcl::registration::ELCH< PointT >::ConstPtr |
| typedef boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property> pcl::registration::ELCH< PointT >::LoopGraph |
| typedef boost::shared_ptr< LoopGraph > pcl::registration::ELCH< PointT >::LoopGraphPtr |
| typedef pcl::PointCloud<PointT> pcl::registration::ELCH< PointT >::PointCloud |
Reimplemented from pcl::PCLBase< PointT >.
| typedef PointCloud::ConstPtr pcl::registration::ELCH< PointT >::PointCloudConstPtr |
Reimplemented from pcl::PCLBase< PointT >.
| typedef PointCloud::Ptr pcl::registration::ELCH< PointT >::PointCloudPtr |
Reimplemented from pcl::PCLBase< PointT >.
| typedef boost::shared_ptr< ELCH<PointT> > pcl::registration::ELCH< PointT >::Ptr |
| typedef pcl::Registration<PointT, PointT> pcl::registration::ELCH< PointT >::Registration |
| typedef Registration::ConstPtr pcl::registration::ELCH< PointT >::RegistrationConstPtr |
| typedef Registration::Ptr pcl::registration::ELCH< PointT >::RegistrationPtr |
| pcl::registration::ELCH< PointT >::ELCH | ( | ) | [inline] |
| virtual pcl::registration::ELCH< PointT >::~ELCH | ( | ) | [inline, virtual] |
| void pcl::registration::ELCH< PointT >::addPointCloud | ( | PointCloudPtr | cloud | ) | [inline] |
| void pcl::registration::ELCH< PointT >::compute | ( | ) | [inline] |
Computes now 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 218 of file elch.hpp.
References pcl::PCLBase< PointT >::deinitCompute(), pcl::registration::ELCH< PointT >::initCompute(), and pcl::transformPointCloud().
| boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopEnd | ( | ) | [inline] |
| LoopGraphPtr pcl::registration::ELCH< PointT >::getLoopGraph | ( | ) | [inline] |
| boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopStart | ( | ) | [inline] |
| Eigen::Matrix4f pcl::registration::ELCH< PointT >::getLoopTransform | ( | ) | [inline] |
| RegistrationPtr pcl::registration::ELCH< PointT >::getReg | ( | ) | [inline] |
Getter for the registration algorithm.
| bool pcl::registration::ELCH< PointT >::initCompute | ( | ) | [inline, protected, virtual] |
This method should get called before starting the actual computation.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 158 of file elch.hpp.
References pcl::PCLBase< PointT >::deinitCompute().
Referenced by pcl::registration::ELCH< PointT >::compute().
| void pcl::registration::ELCH< PointT >::setLoopEnd | ( | const typename boost::graph_traits< LoopGraph >::vertex_descriptor & | loop_end | ) | [inline] |
| void pcl::registration::ELCH< PointT >::setLoopGraph | ( | LoopGraphPtr | loop_graph | ) | [inline] |
| void pcl::registration::ELCH< PointT >::setLoopStart | ( | const typename boost::graph_traits< LoopGraph >::vertex_descriptor & | loop_start | ) | [inline] |
| void pcl::registration::ELCH< PointT >::setLoopTransform | ( | const Eigen::Matrix4f & | loop_transform | ) | [inline] |
| void pcl::registration::ELCH< PointT >::setReg | ( | RegistrationPtr | reg | ) | [inline] |
Setter for the registration algorithm.
| [in] | reg | the registration algorithm used to compute the transformation between the start and the end of the loop |
