pairwise_graph_registration.h
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#pragma once
#include <pcl/registration/graph_registration.h>
#include <pcl/registration/registration.h>
namespace pcl
{
/** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
* \author Nicola Fioraio
* \ingroup registration
*/
template <typename GraphT, typename PointT>
class PairwiseGraphRegistration : public GraphRegistration<GraphT>
{
public:
using GraphRegistration<GraphT>::graph_handler_;
using GraphRegistration<GraphT>::last_aligned_vertex_;
using GraphRegistration<GraphT>::last_vertices_;
using RegistrationPtr = typename Registration<PointT, PointT>::Ptr;
using GraphHandlerVertex = typename pcl::registration::GraphHandler<GraphT>::Vertex;
/** \brief Empty destructor */
virtual ~PairwiseGraphRegistration () {}
/** \brief Empty constructor */
PairwiseGraphRegistration () : registration_method_ (), incremental_ (true)
{}
/** \brief Constructor */
PairwiseGraphRegistration (const RegistrationPtr& reg, bool incremental) : registration_method_ (reg), incremental_ (incremental)
{}
/** \brief Set the registration object */
inline void
setRegistrationMethod (const RegistrationPtr& reg)
{
registration_method_ = reg;
}
/** \brief Get the registration object */
inline RegistrationPtr
getRegistrationMethod ()
{
return registration_method_;
}
/** \brief If True the initial transformation is always set to the Identity */
inline void
setIncremental (bool incremental)
{
incremental_ = incremental;
}
/** \brief Is incremental ? */
inline bool
isIncremental () const
{
return incremental_;
}
protected:
/** \brief The registration object */
RegistrationPtr registration_method_;
/** \brief If True the initial transformation is always set to the Identity */
bool incremental_;
private:
/** \brief The registration method */
virtual void
computeRegistration ();
};
}
#include <pcl/registration/impl/pairwise_graph_registration.hpp>
pcl::PairwiseGraphRegistration::getRegistrationMethod
RegistrationPtr getRegistrationMethod()
Get the registration object.
Definition: pairwise_graph_registration.h:83
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::Registration
Registration represents the base registration class for general purpose, ICP-like methods.
Definition: registration.h:60
pcl::GraphRegistration
GraphRegistration class is the base class for graph-based registration methods
Definition: graph_registration.h:53
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:53