Point Cloud Library (PCL)  1.9.1
pairwise_graph_registration.h
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40 
41 #ifndef PCL_PAIRWISE_GRAPH_REGISTRATION_H_
42 #define PCL_PAIRWISE_GRAPH_REGISTRATION_H_
43 
44 #include <pcl/registration/graph_registration.h>
45 #include <pcl/registration/registration.h>
46 
47 namespace pcl
48 {
49  /** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
50  * \author Nicola Fioraio
51  * \ingroup registration
52  */
53  template <typename GraphT, typename PointT>
55  {
56  public:
60 
63 
64  /** \brief Empty destructor */
66 
67 
68  /** \brief Empty constructor */
70  {}
71  /** \brief Constructor */
72  PairwiseGraphRegistration (const RegistrationPtr& reg, bool incremental) : registration_method_ (reg), incremental_ (incremental)
73  {}
74 
75  /** \brief Set the registration object */
76  inline void
78  {
80  }
81 
82  /** \brief Get the registration object */
83  inline RegistrationPtr
85  {
86  return registration_method_;
87  }
88 
89  /** \brief If True the initial transformation is always set to the Identity */
90  inline void
91  setIncremental (bool incremental)
92  {
93  incremental_ = incremental;
94  }
95 
96  /** \brief Is incremental ? */
97  inline bool
98  isIncremental () const
99  {
100  return incremental_;
101  }
102 
103  protected:
104  /** \brief The registration object */
106  /** \brief If True the initial transformation is always set to the Identity */
108 
109  private:
110  /** \brief The registration method */
111  virtual void
112  computeRegistration ();
113  };
114 }
115 
116 #include <pcl/registration/impl/pairwise_graph_registration.hpp>
117 
118 #endif // PCL_PAIRWISE_GRAPH_REGISTRATION_H_
bool incremental_
If True the initial transformation is always set to the Identity.
boost::graph_traits< GraphT >::vertex_descriptor Vertex
Definition: graph_handler.h:90
RegistrationPtr getRegistrationMethod()
Get the registration object.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
PairwiseGraphRegistration class aligns the clouds two by two
Registration< PointT, PointT >::Ptr RegistrationPtr
pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
GraphRegistration class is the base class for graph-based registration methods
Registration represents the base registration class for general purpose, ICP-like methods.
Definition: registration.h:62
bool isIncremental() const
Is incremental ?
PairwiseGraphRegistration(const RegistrationPtr &reg, bool incremental)
Constructor.
void setIncremental(bool incremental)
If True the initial transformation is always set to the Identity.
void setRegistrationMethod(const RegistrationPtr &reg)
Set the registration object.
RegistrationPtr registration_method_
The registration object.
virtual ~PairwiseGraphRegistration()
Empty destructor.