43#include <pcl/registration/graph_registration.h>
44#include <pcl/registration/registration.h>
51template <
typename GraphT,
typename Po
intT>
108 computeRegistration();
112#include <pcl/registration/impl/pairwise_graph_registration.hpp>
GraphRegistration class is the base class for graph-based registration methods
std::vector< GraphHandlerVertex > last_vertices_
The vertices added to the graph since the last call to compute.
typename pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
GraphHandlerVertex last_aligned_vertex_
The last estimated pose.
GraphHandlerPtr graph_handler_
The graph handler.
PairwiseGraphRegistration class aligns the clouds two by two
bool isIncremental() const
Is incremental ?
RegistrationPtr getRegistrationMethod()
Get the registration object.
PairwiseGraphRegistration()
Empty constructor.
bool incremental_
If True the initial transformation is always set to the Identity.
PairwiseGraphRegistration(const RegistrationPtr ®, bool incremental)
Constructor.
typename Registration< PointT, PointT >::Ptr RegistrationPtr
void setRegistrationMethod(const RegistrationPtr ®)
Set the registration object.
virtual ~PairwiseGraphRegistration()
Empty destructor.
RegistrationPtr registration_method_
The registration object.
void setIncremental(bool incremental)
If True the initial transformation is always set to the Identity.
Registration represents the base registration class for general purpose, ICP-like methods.
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex