Point Cloud Library (PCL) 1.15.0
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pairwise_graph_registration.h
1/*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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40
41#pragma once
42
43#include <pcl/registration/graph_registration.h>
44#include <pcl/registration/registration.h>
45
46namespace pcl {
47/** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
48 * \author Nicola Fioraio
49 * \ingroup registration
50 */
51template <typename GraphT, typename PointT>
53public:
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
74
75 /** \brief Get the registration object */
76 inline RegistrationPtr
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
92 {
93 return incremental_;
94 }
95
96protected:
97 /** \brief The registration object */
99 /** \brief If True the initial transformation is always set to the Identity */
101
102private:
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
std::vector< GraphHandlerVertex > last_vertices_
The vertices added to the graph since the last call to compute.
GraphHandlerVertex last_aligned_vertex_
The last estimated pose.
GraphHandlerPtr graph_handler_
The graph handler.
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.
typename pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
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.
shared_ptr< Registration< PointSource, PointTarget, Scalar > > Ptr
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex