Point Cloud Library (PCL)  1.14.1-dev
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 constructor */
63  /** \brief Constructor */
64  PairwiseGraphRegistration(const RegistrationPtr& reg, bool incremental)
65  : registration_method_(reg), incremental_(incremental)
66  {}
67 
68  /** \brief Set the registration object */
69  inline void
71  {
73  }
74 
75  /** \brief Get the registration object */
76  inline RegistrationPtr
78  {
79  return registration_method_;
80  }
81 
82  /** \brief If True the initial transformation is always set to the Identity */
83  inline void
84  setIncremental(bool incremental)
85  {
86  incremental_ = incremental;
87  }
88 
89  /** \brief Is incremental ? */
90  inline bool
91  isIncremental() const
92  {
93  return incremental_;
94  }
95 
96 protected:
97  /** \brief The registration object */
99  /** \brief If True the initial transformation is always set to the Identity */
101 
102 private:
103  /** \brief The registration method */
104  virtual void
105  computeRegistration();
106 };
107 } // namespace pcl
108 
109 #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.
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