Point Cloud Library (PCL)
1.9.1
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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 More... | |
typedef boost::shared_ptr < LoopGraph > | LoopGraphPtr |
typedef pcl::Registration < PointT, PointT > | Registration |
typedef Registration::Ptr | RegistrationPtr |
typedef Registration::ConstPtr | RegistrationConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
ELCH () | |
Empty constructor. More... | |
virtual | ~ELCH () |
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... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | 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[] (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... | |
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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 | |
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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... | |
ELCH (Explicit Loop Closing Heuristic) class
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 |
typedef PointCloud::ConstPtr pcl::registration::ELCH< PointT >::PointCloudConstPtr |
typedef PointCloud::Ptr pcl::registration::ELCH< PointT >::PointCloudPtr |
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 |
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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 218 of file elch.hpp.
References pcl::transformPointCloud().
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