Program Listing for File registrations.hpp

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/*
Copyright (c) 2023, University of Luxembourg
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   and/or other materials provided with the distribution.

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   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.

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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*/

#ifndef HDL_GRAPH_SLAM_REGISTRATIONS_HPP
#define HDL_GRAPH_SLAM_REGISTRATIONS_HPP

#include <pcl/registration/registration.h>

namespace s_graphs {

struct registration_params {
 public:
  std::string registration_method;
  long int reg_num_threads;
  double reg_transformation_epsilon;
  long int reg_maximum_iterations;
  double reg_max_correspondence_distance;
  long int reg_correspondence_randomness;
  double reg_resolution;
  bool reg_use_reciprocal_correspondences;
  long int reg_max_optimizer_iterations;
  std::string reg_nn_search_method;
};

pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>::Ptr select_registration_method(
    registration_params params);

}  // namespace s_graphs

#endif  //