Point Cloud Library (PCL)
1.10.0
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43 #include <pcl/point_cloud.h>
44 #include <pcl/registration/graph_handler.h>
52 template <
typename GraphT>
71 template <
typename Po
intT>
inline void
106 computeRegistration ();
122 computeRegistration () = 0;
typename pcl::registration::GraphHandler< GraphT >::Ptr GraphHandlerPtr
void setGraphHandler(GraphHandlerPtr &gh)
Set the graph handler.
This file defines compatibility wrappers for low level I/O functions.
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.
shared_ptr< GraphHandler< GraphT > > Ptr
GraphHandlerConstPtr getGraphHandler() const
Get a pointer to the graph handler.
GraphHandlerVertex last_aligned_vertex_
The last estimated pose.
typename pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex
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...
shared_ptr< const GraphHandler< GraphT > > ConstPtr
GraphRegistration()
Empty constructor.
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.
shared_ptr< const PointCloud< PointT > > ConstPtr
typename pcl::registration::GraphHandler< GraphT >::ConstPtr GraphHandlerConstPtr