ELCH (Explicit Loop Closing Heuristic) class More...

#include <pcl/registration/elch.h>

Inheritance diagram for pcl::registration::ELCH< PointT >:

Collaboration diagram for pcl::registration::ELCH< PointT >:

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::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
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	ELCH ()
	Empty constructor.
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.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointT>
class pcl::registration::ELCH< PointT >

ELCH (Explicit Loop Closing Heuristic) class

Author:: Jochen Sprickerhof

Definition at line 64 of file elch.h.

Member Typedef Documentation

template<typename PointT >

typedef boost::shared_ptr< const ELCH<PointT> > pcl::registration::ELCH< PointT >::ConstPtr

Definition at line 68 of file elch.h.

template<typename PointT >

typedef boost::adjacency_list< boost::listS, boost::vecS, boost::undirectedS, Vertex, boost::no_property> pcl::registration::ELCH< PointT >::LoopGraph

graph structure to hold the SLAM graph

Definition at line 85 of file elch.h.

template<typename PointT >

typedef boost::shared_ptr< LoopGraph > pcl::registration::ELCH< PointT >::LoopGraphPtr

Definition at line 87 of file elch.h.

template<typename PointT >

typedef pcl::PointCloud<PointT> pcl::registration::ELCH< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 70 of file elch.h.

template<typename PointT >

typedef PointCloud::ConstPtr pcl::registration::ELCH< PointT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 72 of file elch.h.

template<typename PointT >

typedef PointCloud::Ptr pcl::registration::ELCH< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 71 of file elch.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 78 of file pcl_base.h.

template<typename PointT >

typedef boost::shared_ptr< ELCH<PointT> > pcl::registration::ELCH< PointT >::Ptr

Definition at line 67 of file elch.h.

template<typename PointT >

typedef pcl::Registration<PointT, PointT> pcl::registration::ELCH< PointT >::Registration

Definition at line 89 of file elch.h.

template<typename PointT >

typedef Registration::ConstPtr pcl::registration::ELCH< PointT >::RegistrationConstPtr

Definition at line 91 of file elch.h.

template<typename PointT >

typedef Registration::Ptr pcl::registration::ELCH< PointT >::RegistrationPtr

Definition at line 90 of file elch.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::registration::ELCH< PointT >::ELCH ( ) [inline]

Empty constructor.

Definition at line 94 of file elch.h.

Member Function Documentation

template<typename PointT >

void pcl::registration::ELCH< PointT >::addPointCloud ( PointCloudPtr cloud ) [inline]

Add a new point cloud to the internal graph.

Parameters:

[in] cloud the new point cloud

Definition at line 108 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::compute ( )

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.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT >

boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopEnd ( ) [inline]

Getter for the last scan of a loop.

Definition at line 151 of file elch.h.

template<typename PointT >

LoopGraphPtr pcl::registration::ELCH< PointT >::getLoopGraph ( ) [inline]

Getter for the internal graph.

Definition at line 119 of file elch.h.

template<typename PointT >

boost::graph_traits<LoopGraph>::vertex_descriptor pcl::registration::ELCH< PointT >::getLoopStart ( ) [inline]

Getter for the first scan of a loop.

Definition at line 135 of file elch.h.

template<typename PointT >

Eigen::Matrix4f pcl::registration::ELCH< PointT >::getLoopTransform ( ) [inline]

Getter for the transformation between the first and the last scan.

Definition at line 183 of file elch.h.

template<typename PointT >

RegistrationPtr pcl::registration::ELCH< PointT >::getReg ( ) [inline]

Getter for the registration algorithm.

Definition at line 167 of file elch.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopEnd ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor & loop_end ) [inline]

Setter for the last scan of a loop.

Parameters:

[in] loop_end the scan that ends the loop

Definition at line 160 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopGraph ( LoopGraphPtr loop_graph ) [inline]

Setter for a new internal graph.

Parameters:

[in] loop_graph the new graph

Definition at line 128 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopStart ( const typename boost::graph_traits< LoopGraph >::vertex_descriptor & loop_start ) [inline]

Setter for the first scan of a loop.

Parameters:

[in] loop_start the scan that starts the loop

Definition at line 144 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopTransform ( const Eigen::Matrix4f & loop_transform ) [inline]

Setter for the transformation between the first and the last scan.

Parameters:

[in] loop_transform the transformation between the first and the last scan

Definition at line 192 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setReg ( RegistrationPtr reg ) [inline]

Setter for the registration algorithm.

Parameters:

[in] reg the registration algorithm used to compute the transformation between the start and the end of the loop

Definition at line 176 of file elch.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/elch.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/elch.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::registration::ELCH< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::registration::ELCH< PointT >