Point Cloud Library (PCL)
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registration
include
pcl
registration
pairwise_graph_registration.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#ifndef PCL_PAIRWISE_GRAPH_REGISTRATION_H_
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#define PCL_PAIRWISE_GRAPH_REGISTRATION_H_
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#include <pcl/registration/graph_registration.h>
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#include <pcl/registration/registration.h>
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namespace
pcl
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{
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/** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
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* \author Nicola Fioraio
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* \ingroup registration
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*/
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template
<
typename
GraphT,
typename
Po
int
T>
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class
PairwiseGraphRegistration
:
public
GraphRegistration
<GraphT>
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{
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public
:
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using
GraphRegistration<GraphT>::graph_handler_
;
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using
GraphRegistration<GraphT>::last_aligned_vertex_
;
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using
GraphRegistration<GraphT>::last_vertices_
;
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typedef
typename
Registration<PointT, PointT>::Ptr
RegistrationPtr
;
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typedef
typename
pcl::registration::GraphHandler<GraphT>::Vertex
GraphHandlerVertex
;
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/** \brief Empty destructor */
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virtual
~PairwiseGraphRegistration
() {}
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/** \brief Empty constructor */
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PairwiseGraphRegistration
() :
registration_method_
(),
incremental_
(true)
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{}
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/** \brief Constructor */
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PairwiseGraphRegistration
(
const
RegistrationPtr
& reg,
bool
incremental) :
registration_method_
(reg),
incremental_
(incremental)
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{}
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/** \brief Set the registration object */
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inline
void
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setRegistrationMethod
(
const
RegistrationPtr
& reg)
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{
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registration_method_
= reg;
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}
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/** \brief Get the registration object */
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inline
RegistrationPtr
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getRegistrationMethod
()
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{
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return
registration_method_
;
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}
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/** \brief If True the initial transformation is always set to the Identity */
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inline
void
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setIncremental
(
bool
incremental)
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{
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incremental_
= incremental;
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}
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/** \brief Is incremental ? */
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inline
bool
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isIncremental
()
const
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{
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return
incremental_
;
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}
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protected
:
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/** \brief The registration object */
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RegistrationPtr
registration_method_
;
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/** \brief If True the initial transformation is always set to the Identity */
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bool
incremental_
;
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private
:
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/** \brief The registration method */
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virtual
void
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computeRegistration ();
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};
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}
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#include <pcl/registration/impl/pairwise_graph_registration.hpp>
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#endif // PCL_PAIRWISE_GRAPH_REGISTRATION_H_