45 #include <pcl/pcl_base.h>
47 #include <pcl/point_cloud.h>
48 #include <pcl/registration/registration.h>
49 #include <pcl/registration/boost.h>
50 #include <pcl/registration/eigen.h>
51 #include <pcl/registration/icp.h>
52 #include <pcl/registration/boost_graph.h>
56 namespace registration
62 template <
typename Po
intT>
66 using Ptr = shared_ptr<ELCH<PointT> >;
67 using ConstPtr = shared_ptr<const ELCH<PointT> >;
111 typename boost::graph_traits<LoopGraph>::vertex_descriptor vd = add_vertex (*loop_graph_);
112 (*loop_graph_)[vd].cloud = cloud;
113 if (num_vertices (*loop_graph_) > 1)
114 add_edge (vd_, vd, *loop_graph_);
122 return (loop_graph_);
131 loop_graph_ = loop_graph;
135 inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
138 return (loop_start_);
145 setLoopStart (
const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_start)
147 loop_start_ = loop_start;
151 inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
161 setLoopEnd (
const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_end)
163 loop_end_ = loop_end;
183 inline Eigen::Matrix4f
186 return (loop_transform_);
195 loop_transform_ = loop_transform;
196 compute_loop_ =
false;
215 using LOAGraph = boost::adjacency_list<
216 boost::listS, boost::vecS, boost::undirectedS,
218 boost::property< boost::edge_weight_t, double > >;
228 loopOptimizerAlgorithm (LOAGraph &g,
double *weights);
234 typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;
237 typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;
243 Eigen::Matrix4f loop_transform_;
247 typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;
255 #include <pcl/registration/impl/elch.hpp>
IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm.
typename PointCloud::Ptr PointCloudPtr
typename PointCloud::ConstPtr PointCloudConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< const Registration< PointT, PointT, float > > ConstPtr
shared_ptr< Registration< PointT, PointT, float > > Ptr
ELCH (Explicit Loop Closing Heuristic) class
typename Registration::ConstPtr RegistrationConstPtr
shared_ptr< ELCH< PointT > > Ptr
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopStart()
Getter for the first scan of a loop.
void setLoopTransform(const Eigen::Matrix4f &loop_transform)
Setter for the transformation between the first and the last scan.
shared_ptr< const ELCH< PointT > > ConstPtr
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopEnd()
Getter for the last scan of a loop.
Eigen::Matrix4f getLoopTransform()
Getter for the transformation between the first and the last scan.
void setLoopEnd(const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end)
Setter for the last scan of a loop.
boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property > LoopGraph
graph structure to hold the SLAM graph
void addPointCloud(PointCloudPtr cloud)
Add a new point cloud to the internal graph.
void setLoopGraph(LoopGraphPtr loop_graph)
Setter for a new internal graph.
void setLoopStart(const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start)
Setter for the first scan of a loop.
shared_ptr< LoopGraph > LoopGraphPtr
void setReg(RegistrationPtr reg)
Setter for the registration algorithm.
typename Registration::Ptr RegistrationPtr
RegistrationPtr getReg()
Getter for the registration algorithm.
LoopGraphPtr getLoopGraph()
Getter for the internal graph.
virtual bool initCompute()
This method should get called before starting the actual computation.
void compute()
Computes new poses for all point clouds by closing the loop between start and end point cloud.
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.
Eigen::Affine3f transform