41 #ifndef PCL_PAIRWISE_GRAPH_REGISTRATION_H_
42 #define PCL_PAIRWISE_GRAPH_REGISTRATION_H_
44 #include <pcl/registration/graph_registration.h>
45 #include <pcl/registration/registration.h>
53 template <
typename GraphT,
typename Po
intT>
112 computeRegistration ();
116 #include <pcl/registration/impl/pairwise_graph_registration.hpp>
118 #endif // PCL_PAIRWISE_GRAPH_REGISTRATION_H_
Registration represents the base registration class for general purpose, ICP-like methods...
bool isIncremental() const
Is incremental ?
boost::graph_traits< GraphT >::vertex_descriptor Vertex
RegistrationPtr registration_method_
The registration object.
GraphRegistration class is the base class for graph-based registration methods
Registration< PointT, PointT >::Ptr RegistrationPtr
void setIncremental(bool incremental)
If True the initial transformation is always set to the Identity.
bool incremental_
If True the initial transformation is always set to the Identity.
RegistrationPtr getRegistrationMethod()
Get the registration object.
void setRegistrationMethod(const RegistrationPtr ®)
Set the registration object.
PairwiseGraphRegistration class aligns the clouds two by two
virtual ~PairwiseGraphRegistration()
Empty destructor.
PairwiseGraphRegistration(const RegistrationPtr ®, bool incremental)
Constructor.
pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
PairwiseGraphRegistration()
Empty constructor.