Point Cloud Library (PCL)  1.11.0
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 {
48  /** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
49  * \author Nicola Fioraio
50  * \ingroup registration
51  */
52  template <typename GraphT, typename PointT>
54  {
55  public:
59 
62 
63  /** \brief Empty destructor */
65 
66 
67  /** \brief Empty constructor */
69  {}
70  /** \brief Constructor */
71  PairwiseGraphRegistration (const RegistrationPtr& reg, bool incremental) : registration_method_ (reg), incremental_ (incremental)
72  {}
73 
74  /** \brief Set the registration object */
75  inline void
77  {
79  }
80 
81  /** \brief Get the registration object */
82  inline RegistrationPtr
84  {
85  return registration_method_;
86  }
87 
88  /** \brief If True the initial transformation is always set to the Identity */
89  inline void
90  setIncremental (bool incremental)
91  {
92  incremental_ = incremental;
93  }
94 
95  /** \brief Is incremental ? */
96  inline bool
97  isIncremental () const
98  {
99  return incremental_;
100  }
101 
102  protected:
103  /** \brief The registration object */
105  /** \brief If True the initial transformation is always set to the Identity */
107 
108  private:
109  /** \brief The registration method */
110  virtual void
111  computeRegistration ();
112  };
113 }
114 
115 #include <pcl/registration/impl/pairwise_graph_registration.hpp>
pcl::PairwiseGraphRegistration::getRegistrationMethod
RegistrationPtr getRegistrationMethod()
Get the registration object.
Definition: pairwise_graph_registration.h:83
pcl
Definition: convolution.h:46
pcl::Registration
Registration represents the base registration class for general purpose, ICP-like methods.
Definition: registration.h:62
pcl::GraphRegistration
GraphRegistration class is the base class for graph-based registration methods
Definition: graph_registration.h:54
pcl::GraphRegistration::GraphHandlerVertex
typename pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
Definition: graph_registration.h:59
pcl::registration::GraphHandler::Vertex
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex
Definition: graph_handler.h:89
pcl::PairwiseGraphRegistration::PairwiseGraphRegistration
PairwiseGraphRegistration(const RegistrationPtr &reg, bool incremental)
Constructor.
Definition: pairwise_graph_registration.h:71
pcl::PairwiseGraphRegistration::isIncremental
bool isIncremental() const
Is incremental ?
Definition: pairwise_graph_registration.h:97
pcl::PairwiseGraphRegistration::PairwiseGraphRegistration
PairwiseGraphRegistration()
Empty constructor.
Definition: pairwise_graph_registration.h:68
pcl::PairwiseGraphRegistration::RegistrationPtr
typename Registration< PointT, PointT >::Ptr RegistrationPtr
Definition: pairwise_graph_registration.h:60
pcl::PairwiseGraphRegistration::setRegistrationMethod
void setRegistrationMethod(const RegistrationPtr &reg)
Set the registration object.
Definition: pairwise_graph_registration.h:76
pcl::PairwiseGraphRegistration::setIncremental
void setIncremental(bool incremental)
If True the initial transformation is always set to the Identity.
Definition: pairwise_graph_registration.h:90
pcl::PairwiseGraphRegistration::~PairwiseGraphRegistration
virtual ~PairwiseGraphRegistration()
Empty destructor.
Definition: pairwise_graph_registration.h:64
pcl::PairwiseGraphRegistration::incremental_
bool incremental_
If True the initial transformation is always set to the Identity.
Definition: pairwise_graph_registration.h:106
pcl::PairwiseGraphRegistration::registration_method_
RegistrationPtr registration_method_
The registration object.
Definition: pairwise_graph_registration.h:104
pcl::PairwiseGraphRegistration
PairwiseGraphRegistration class aligns the clouds two by two
Definition: pairwise_graph_registration.h:54