Point Cloud Library (PCL) 1.13.0
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graph_registration.h
1/*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Willow Garage, Inc.
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40
41#pragma once
42
43#include <pcl/registration/graph_handler.h>
44#include <pcl/point_cloud.h>
45
46namespace pcl {
47/** \brief @b GraphRegistration class is the base class for graph-based registration
48 * methods \author Nicola Fioraio \ingroup registration
49 */
50template <typename GraphT>
52public:
58
59 /** \brief Empty constructor */
62 , last_aligned_vertex_(boost::graph_traits<GraphT>::null_vertex())
64 {}
65
66 /** \brief Empty destructor */
67 virtual ~GraphRegistration() = default;
68
69 /** \brief Add a point cloud and the associated camera pose to the graph */
70 template <typename PointT>
71 inline void
73 const Eigen::Matrix4f& pose)
74 {
75 last_vertices_.push_back(graph_handler_->addPointCloud(cloud, pose));
76 }
77
78 /** \brief Set the graph handler */
79 inline void
84
85 /** \brief Get a pointer to the graph handler */
86 inline GraphHandlerPtr
88 {
89 return graph_handler_;
90 }
91
92 /** \brief Get a pointer to the graph handler */
95 {
96 return graph_handler_;
97 }
98
99 /** \brief Check if new poses have been added, then call the registration
100 * method which is implemented by the subclasses
101 */
102 inline void
104 {
105 if (last_vertices_.empty())
106 return;
107 computeRegistration();
109 last_vertices_.clear();
110 }
111
112protected:
113 /** \brief The graph handler */
115 /** \brief The last estimated pose */
117 /** \brief The vertices added to the graph since the last call to compute */
118 std::vector<GraphHandlerVertex> last_vertices_;
119
120private:
121 /** \brief The registration method */
122 virtual void
123 computeRegistration() = 0;
124};
125} // namespace pcl
GraphRegistration class is the base class for graph-based registration methods
std::vector< GraphHandlerVertex > last_vertices_
The vertices added to the graph since the last call to compute.
virtual ~GraphRegistration()=default
Empty destructor.
void setGraphHandler(GraphHandlerPtr &gh)
Set the graph handler.
typename pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
GraphRegistration()
Empty constructor.
GraphHandlerVertex last_aligned_vertex_
The last estimated pose.
GraphHandlerPtr graph_handler_
The graph handler.
void compute()
Check if new poses have been added, then call the registration method which is implemented by the sub...
typename pcl::registration::GraphHandler< GraphT >::ConstPtr GraphHandlerConstPtr
typename 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.
GraphHandlerConstPtr getGraphHandler() const
Get a pointer to the graph handler.
shared_ptr< const PointCloud< PointT > > ConstPtr
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the foll...
shared_ptr< const GraphHandler< GraphT > > ConstPtr
shared_ptr< GraphHandler< GraphT > > Ptr
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex