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- // SPDX-License-Identifier: BSD-2-Clause
- #ifndef HDL_GRAPH_SLAM_REGISTRATIONS_HPP
- #define HDL_GRAPH_SLAM_REGISTRATIONS_HPP
- #include <ros/ros.h>
- #include <pcl/registration/registration.h>
- namespace hdl_graph_slam {
- /**
- * @brief select a scan matching algorithm according to rosparams
- * @param pnh
- * @return selected scan matching
- */
- pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>::Ptr select_registration_method(ros::NodeHandle& pnh);
- } // namespace hdl_graph_slam
- #endif //
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