Point Cloud Library (PCL)
1.9.1
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41 #ifndef PCL_GRAPH_REGISTRATION_H_
42 #define PCL_GRAPH_REGISTRATION_H_
44 #include <pcl/point_cloud.h>
45 #include <pcl/registration/graph_handler.h>
53 template <
typename GraphT>
72 template <
typename Po
intT>
inline void
107 computeRegistration ();
123 computeRegistration () = 0;
127 #endif // PCL_GRAPH_REGISTRATION_H_
void setGraphHandler(GraphHandlerPtr &gh)
Set the graph handler.
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< GraphHandler< GraphT > > Ptr
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the foll...
virtual ~GraphRegistration()
Empty destructor.
GraphRegistration class is the base class for graph-based registration methods
GraphHandlerPtr graph_handler_
The graph handler.
GraphHandlerConstPtr getGraphHandler() const
Get a pointer to 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.
void compute()
Check if new poses have been added, then call the registration method which is implemented by the sub...
boost::shared_ptr< const GraphHandler< GraphT > > ConstPtr
GraphRegistration()
Empty constructor.
pcl::registration::GraphHandler< GraphT > GraphHandler
pcl::registration::GraphHandler< GraphT >::Ptr GraphHandlerPtr
GraphHandlerPtr getGraphHandler()
Get a pointer to the graph handler.
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.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::graph_traits< GraphT >::vertex_descriptor Vertex
pcl::registration::GraphHandler< GraphT >::ConstPtr GraphHandlerConstPtr
pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex