Point Cloud Library (PCL)  1.12.0
pairwise_graph_registration.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/graph_registration.h>
44 #include <pcl/registration/registration.h>
45 
46 namespace pcl {
47 /** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
48  * \author Nicola Fioraio
49  * \ingroup registration
50  */
51 template <typename GraphT, typename PointT>
53 public:
57 
60 
61  /** \brief Empty destructor */
63 
64  /** \brief Empty constructor */
66  /** \brief Constructor */
67  PairwiseGraphRegistration(const RegistrationPtr& reg, bool incremental)
68  : registration_method_(reg), incremental_(incremental)
69  {}
70 
71  /** \brief Set the registration object */
72  inline void
74  {
76  }
77 
78  /** \brief Get the registration object */
79  inline RegistrationPtr
81  {
82  return registration_method_;
83  }
84 
85  /** \brief If True the initial transformation is always set to the Identity */
86  inline void
87  setIncremental(bool incremental)
88  {
89  incremental_ = incremental;
90  }
91 
92  /** \brief Is incremental ? */
93  inline bool
94  isIncremental() const
95  {
96  return incremental_;
97  }
98 
99 protected:
100  /** \brief The registration object */
102  /** \brief If True the initial transformation is always set to the Identity */
104 
105 private:
106  /** \brief The registration method */
107  virtual void
108  computeRegistration();
109 };
110 } // namespace pcl
111 
112 #include <pcl/registration/impl/pairwise_graph_registration.hpp>
GraphRegistration class is the base class for graph-based registration methods
typename pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
PairwiseGraphRegistration class aligns the clouds two by two
bool isIncremental() const
Is incremental ?
RegistrationPtr getRegistrationMethod()
Get the registration object.
bool incremental_
If True the initial transformation is always set to the Identity.
PairwiseGraphRegistration(const RegistrationPtr &reg, bool incremental)
Constructor.
typename Registration< PointT, PointT >::Ptr RegistrationPtr
void setRegistrationMethod(const RegistrationPtr &reg)
Set the registration object.
virtual ~PairwiseGraphRegistration()
Empty destructor.
RegistrationPtr registration_method_
The registration object.
void setIncremental(bool incremental)
If True the initial transformation is always set to the Identity.
Registration represents the base registration class for general purpose, ICP-like methods.
Definition: registration.h:57
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex
Definition: graph_handler.h:92