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 >:

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::vecS, boost::vecS, boost::undirectedS, PointCloudPtr, boost::no_property >	LoopGraph
	graph structure to hold the SLAM graph
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 (PointCloudConstPtr cloud)
	Add a new point cloud to the internal graph.
LoopGraph	getLoopGraph ()
	Getter for the internal graph.
void	setLoopGraph (LoopGraph loop_graph)
	Setter for a new internal graph.
PointCloudConstPtr	getLoopStart ()
	Getter for the first scan of a loop.
void	setLoopStart (PointCloudConstPtr loop_start)
	Setter for the first scan of a loop.
PointCloudConstPtr	getLoopend ()
	Getter for the last scan of a loop.
void	setLoopend (PointCloudConstPtr loop_end)
	Setter for the last scan of a loop.
RegistrationConstPtr	getReg ()
	Getter for the registration algorithm.
void	setReg (RegistrationConstPtr reg)
	Setter for the registration algorithm.
Eigen::Affine3f &	getLoopTransform ()
	Getter for the transformation between the first and the last scan.
void	setLoopTransform (Eigen::Affine3f &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 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 63 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 67 of file elch.h.

template<typename PointT >

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

graph structure to hold the SLAM graph

Definition at line 78 of file elch.h.

template<typename PointT >

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 69 of file elch.h.

template<typename PointT >

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 71 of file elch.h.

template<typename PointT >

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 70 of file elch.h.

template<typename PointT>

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

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

Definition at line 79 of file pcl_base.h.

template<typename PointT>

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

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

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 66 of file elch.h.

template<typename PointT >

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

Definition at line 80 of file elch.h.

template<typename PointT >

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

Definition at line 82 of file elch.h.

template<typename PointT >

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

Definition at line 81 of file elch.h.

Constructor & Destructor Documentation

template<typename PointT >

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

Empty constructor.

Definition at line 85 of file elch.h.

Member Function Documentation

template<typename PointT >

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

Add a new point cloud to the internal graph.

Parameters:

[in] cloud the new point cloud

Definition at line 92 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 215 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 171 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 99 of file pcl_base.h.

template<typename PointT >

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

Getter for the last scan of a loop.

Definition at line 131 of file elch.h.

template<typename PointT >

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

Getter for the internal graph.

Definition at line 99 of file elch.h.

template<typename PointT >

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

Getter for the first scan of a loop.

Definition at line 115 of file elch.h.

template<typename PointT >

Eigen::Affine3f& pcl::registration::ELCH< PointT >::getLoopTransform ( ) [inline]

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

Definition at line 163 of file elch.h.

template<typename PointT >

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

Getter for the registration algorithm.

Definition at line 147 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 178 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 105 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 132 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 116 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

Definition at line 95 of file pcl_base.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopend ( PointCloudConstPtr loop_end ) [inline]

Setter for the last scan of a loop.

Parameters:

[in] loop_end the scan that ends the loop

Definition at line 140 of file elch.h.

template<typename PointT >

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

Setter for a new internal graph.

Parameters:

[in] loop_graph the new graph

Definition at line 108 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopStart ( PointCloudConstPtr loop_start ) [inline]

Setter for the first scan of a loop.

Parameters:

[in] loop_start the scan that starts the loop

Definition at line 124 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setLoopTransform ( Eigen::Affine3f & 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 172 of file elch.h.

template<typename PointT >

void pcl::registration::ELCH< PointT >::setReg ( RegistrationConstPtr 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 156 of file elch.h.

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

/builddir/build/BUILD/PCL-1.3.1-Source/registration/include/pcl/registration/elch.h
/builddir/build/BUILD/PCL-1.3.1-Source/registration/include/pcl/registration/impl/elch.hpp

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 >