Point Cloud Library (PCL)  1.3.1
stanford_gicp.h
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00035 
00036 #ifndef PCL_STANFORD_GICP_H_
00037 #define PCL_STANFORD_GICP_H_
00038 
00039 #include <pcl/io/pcd_io.h>
00040 // PCL includes
00041 #include <pcl/registration/registration.h>
00042 #include <pcl/features/feature.h>
00043 #include <pcl/sample_consensus/ransac.h>
00044 #include <pcl/sample_consensus/sac_model_registration.h>
00045 
00046 #include <pcl/registration/stanford_gicp/gicp.h>
00047 
00048 #include <Eigen/SVD>
00049 
00050 namespace pcl
00051 {
00052 
00053 
00054 
00058 
00061   template <typename PointSource, typename PointTarget>
00062   class GeneralizedIterativeClosestPoint : public Registration<PointSource, PointTarget>
00063   {
00064     using Registration<PointSource, PointTarget>::reg_name_;
00065     using Registration<PointSource, PointTarget>::getClassName;
00066     using Registration<PointSource, PointTarget>::input_;
00067     using Registration<PointSource, PointTarget>::indices_;
00068     using Registration<PointSource, PointTarget>::target_;
00069     using Registration<PointSource, PointTarget>::nr_iterations_;
00070     using Registration<PointSource, PointTarget>::max_iterations_;
00071     using Registration<PointSource, PointTarget>::previous_transformation_;
00072     using Registration<PointSource, PointTarget>::final_transformation_;
00073     using Registration<PointSource, PointTarget>::transformation_;
00074     using Registration<PointSource, PointTarget>::transformation_epsilon_;
00075     using Registration<PointSource, PointTarget>::converged_;
00076     using Registration<PointSource, PointTarget>::corr_dist_threshold_;
00077     using Registration<PointSource, PointTarget>::inlier_threshold_;
00078     using Registration<PointSource, PointTarget>::min_number_correspondences_;
00079 
00080     typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
00081     typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
00082     typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
00083 
00084     typedef typename Registration<PointSource, PointTarget>::PointCloudTarget PointCloudTarget;
00085 
00086     typedef PointIndices::Ptr PointIndicesPtr;
00087     typedef PointIndices::ConstPtr PointIndicesConstPtr;
00088 
00089     public:
00091 
00092       GeneralizedIterativeClosestPoint () 
00093       {
00094         reg_name_ = "GeneralizedIterativeClosestPoint";
00095         max_distance_ = 0.2;
00096       };
00097 
00098     void setMaxDistance(double max_distance) { this->max_distance_ = max_distance; };
00099 
00100     protected:
00102 
00105     virtual void computeTransformation (PointCloudSource &output);
00106 
00107     double max_distance_;
00108   };
00109 
00111 
00117   template <typename PointSource, typename PointTarget> inline void estimateRigidTransformationGICP (const pcl::PointCloud<PointSource> &cloud_src, const pcl::PointCloud<PointTarget> &cloud_tgt, Eigen::Matrix4f &transformation_matrix);
00118 
00120 
00127   template <typename PointSource, typename PointTarget> inline void estimateRigidTransformationGICP (const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &indices_src, const pcl::PointCloud<PointTarget> &cloud_tgt, Eigen::Matrix4f &transformation_matrix);
00128 
00130 
00138   template <typename PointSource, typename PointTarget> inline void estimateRigidTransformationGICP (const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &indices_src, const pcl::PointCloud<PointTarget> &cloud_tgt, const std::vector<int> &indices_tgt, Eigen::Matrix4f &transformation_matrix);
00139 
00140 }
00141 
00142 #include "pcl/registration/impl/stanford_gicp.hpp"
00143 
00144 #endif  //#ifndef PCL_ICP_H_
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