Point Cloud Library (PCL)
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include
pcl
registration
graph_optimizer.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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* Redistribution and use in source and binary forms, with or without
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* are met:
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id$
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*
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*/
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#ifndef PCL_GRAPH_OPTIMIZER_H_
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#define PCL_GRAPH_OPTIMIZER_H_
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#include <pcl/registration/graph_handler.h>
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namespace
pcl
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{
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namespace
registration
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{
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/** \brief @b GraphOptimizer class; derive and specialize for each graph type
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* \author Nicola Fioraio
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* \ingroup registration
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*/
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template
<
typename
GraphT>
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class
GraphOptimizer
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{
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public
:
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/** \brief Optimize the given graph
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* \param inout_graph the graph
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* \return false if the optimization has not been performed
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*/
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virtual
inline
bool
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optimize
(
GraphHandler<GraphT>
& inout_graph) = 0;
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/** \brief Empty destructor */
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virtual
~GraphOptimizer
() {}
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};
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}
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}
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#endif // PCL_GRAPH_OPTIMIZER_H_