Point Cloud Library (PCL)  1.14.0-dev
graph_optimizer.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/graph_handler.h>
44 
45 namespace pcl {
46 namespace registration {
47 /** \brief @b GraphOptimizer class; derive and specialize for each graph type
48  * \author Nicola Fioraio
49  * \ingroup registration
50  */
51 template <typename GraphT>
53 public:
54  /** \brief Optimize the given graph
55  * \param inout_graph the graph
56  * \return false if the optimization has not been performed
57  */
58  virtual inline bool
59  optimize(GraphHandler<GraphT>& inout_graph) = 0;
60 
61  /** \brief Empty destructor */
62  virtual ~GraphOptimizer() = default;
63 };
64 } // namespace registration
65 } // namespace pcl
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the foll...
Definition: graph_handler.h:85
GraphOptimizer class; derive and specialize for each graph type
virtual bool optimize(GraphHandler< GraphT > &inout_graph)=0
Optimize the given graph.
virtual ~GraphOptimizer()=default
Empty destructor.