Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::registration::ELCH Class Reference

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

#include <pcl/registration/elch.h>

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List of all members.

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

ELCH (Explicit Loop Closing Heuristic) class

Author:
Jochen Sprickerhof

Member Typedef Documentation

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

Definition at line 67 of file elch.h.

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

graph structure to hold the SLAM graph

Definition at line 78 of file elch.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 69 of file elch.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 71 of file elch.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 70 of file elch.h.

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

Definition at line 66 of file elch.h.

Definition at line 80 of file elch.h.

Definition at line 82 of file elch.h.

Definition at line 81 of file elch.h.


Constructor & Destructor Documentation

pcl::registration::ELCH::ELCH ( ) [inline]

Empty constructor.

Definition at line 85 of file elch.h.


Member Function Documentation

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

Add a new point cloud to the internal graph.

Parameters:
[in]cloudthe new point cloud

Definition at line 92 of file elch.h.

void pcl::registration::ELCH::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.

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

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

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

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

PointCloudConstPtr pcl::registration::ELCH::getLoopend ( ) [inline]

Getter for the last scan of a loop.

Definition at line 131 of file elch.h.

LoopGraph pcl::registration::ELCH::getLoopGraph ( ) [inline]

Getter for the internal graph.

Definition at line 99 of file elch.h.

PointCloudConstPtr pcl::registration::ELCH::getLoopStart ( ) [inline]

Getter for the first scan of a loop.

Definition at line 115 of file elch.h.

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

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

Definition at line 163 of file elch.h.

RegistrationConstPtr pcl::registration::ELCH::getReg ( ) [inline]

Getter for the registration algorithm.

Definition at line 147 of file elch.h.

const PointT& pcl::PCLBase::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:
posposition in indices_ vector

Definition at line 178 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const IndicesPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const PointIndicesConstPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase::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_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

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

Provide a pointer to the input dataset.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

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

Setter for the last scan of a loop.

Parameters:
[in]loop_endthe scan that ends the loop

Definition at line 140 of file elch.h.

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

Setter for a new internal graph.

Parameters:
[in]loop_graphthe new graph

Definition at line 108 of file elch.h.

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

Setter for the first scan of a loop.

Parameters:
[in]loop_startthe scan that starts the loop

Definition at line 124 of file elch.h.

void pcl::registration::ELCH::setLoopTransform ( Eigen::Affine3f &  loop_transform) [inline]

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

Parameters:
[in]loop_transformthe transformation between the first and the last scan

Definition at line 172 of file elch.h.

void pcl::registration::ELCH::setReg ( RegistrationConstPtr  reg) [inline]

Setter for the registration algorithm.

Parameters:
[in]regthe 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:
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