43 #include <pcl/registration/graph_handler.h>
47 namespace registration
53 template <
typename GraphT>
virtual ~GraphOptimizer()
Empty destructor.
virtual bool optimize(GraphHandler< GraphT > &inout_graph)=0
Optimize the given graph.
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the foll...
GraphOptimizer class; derive and specialize for each graph type