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< PointT, PointT >::Ptr RegistrationPtr
RegistrationPtr registration_method_
The registration object.
virtual ~PairwiseGraphRegistration()
Empty destructor.
bool isIncremental() const
Is incremental ?
boost::graph_traits< GraphT >::vertex_descriptor Vertex
RegistrationPtr getRegistrationMethod()
Get the registration object.
PairwiseGraphRegistration()
Empty constructor.
GraphRegistration class is the base class for graph-based registration methods
bool incremental_
If True the initial transformation is always set to the Identity.
PairwiseGraphRegistration class aligns the clouds two by two
void setIncremental(bool incremental)
If True the initial transformation is always set to the Identity.
pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
void setRegistrationMethod(const RegistrationPtr ®)
Set the registration object.
Registration represents the base registration class for general purpose, ICP-like methods...
PairwiseGraphRegistration(const RegistrationPtr ®, bool incremental)
Constructor.