HDL_Graph_slam骨头记（5）——src/hdl_graph_slam/registration
#include <hdl_graph_slam/registrations.hpp> #include <iostream> #include <pcl/registration/ndt.h> #include <pcl/registration/icp.h> #include <pcl/registration/gicp.h> #include <pclomp/ndt_omp.h> #include <pclomp/gicp_omp.h> namespace hdl_graph_slam { boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_registration_method(ros::NodeHandle& pnh) { using PointT = pcl::PointXYZI; // select a registration method (ICP, GICP, NDT) std::string registration_method = pnh.param<std::string>("registration_method", "NDT_OMP"); if(registration_method == "ICP") { std::cout <<