Point Cloud Library (PCL) 1.12.1
pairwise_graph_registration.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 * $Id$
38 *
39 */
40
41#pragma once
42
43#include <pcl/registration/graph_registration.h>
44#include <pcl/registration/registration.h>
45
46namespace pcl {
47/** \brief @b PairwiseGraphRegistration class aligns the clouds two by two
48 * \author Nicola Fioraio
49 * \ingroup registration
50 */
51template <typename GraphT, typename PointT>
53public:
57
60
61 /** \brief Empty destructor */
63
64 /** \brief Empty constructor */
66 /** \brief Constructor */
67 PairwiseGraphRegistration(const RegistrationPtr& reg, bool incremental)
68 : registration_method_(reg), incremental_(incremental)
69 {}
70
71 /** \brief Set the registration object */
72 inline void
74 {
76 }
77
78 /** \brief Get the registration object */
79 inline RegistrationPtr
81 {
83 }
84
85 /** \brief If True the initial transformation is always set to the Identity */
86 inline void
87 setIncremental(bool incremental)
88 {
89 incremental_ = incremental;
90 }
91
92 /** \brief Is incremental ? */
93 inline bool
95 {
96 return incremental_;
97 }
98
99protected:
100 /** \brief The registration object */
102 /** \brief If True the initial transformation is always set to the Identity */
104
105private:
106 /** \brief The registration method */
107 virtual void
108 computeRegistration();
109};
110} // namespace pcl
111
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.
bool incremental_
If True the initial transformation is always set to the Identity.
PairwiseGraphRegistration(const RegistrationPtr &reg, bool incremental)
Constructor.
typename Registration< PointT, PointT >::Ptr RegistrationPtr
void setRegistrationMethod(const RegistrationPtr &reg)
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.
Definition: registration.h:57
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex
Definition: graph_handler.h:92