RegistrationPipeline.hpp

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#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_