RegistrationPipeline.hpp

Go to the documentation of this file.

 
#ifndef REGISTRATION_PIPELINE_OBJECT_H_
#define REGISTRATION_PIPELINE_OBJECT_H_
 
#include "lvr2/registration/SLAMOptions.hpp"
#include "lvr2/registration/GraphSLAM.hpp"
#include "lvr2/types/ScanTypes.hpp"
using namespace lvr2;
 
class RegistrationPipeline
{
public:
 
    RegistrationPipeline(const SLAMOptions* options, ScanProjectEditMarkPtr scans);
 
    void doRegistration();
private:
 
    bool isToleratedDifference(Transformd a, Transformd b);
 
    void rotateAroundYAxis(Transformd *inputMatrix4x4, double angle);
 
    const SLAMOptions* m_options;
    ScanProjectEditMarkPtr m_scans;
};
 
#endif // REGISTRATION_PIPELINE_OBJECT_H_