Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

/*

 * gicp.h

 *

 *  Created on: Jan 23, 2011

 *      Author: engelhar

 */

#ifndef GICP_FALLBACK_H_

#define GICP_FALLBACK_H_

#include <pcl/registration/icp.h>

#include <pcl/registration/registration.h>

#include <Eigen/Core>

typedef pcl::PointXYZRGB Point;

typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud_RGB;

void saveCloud(const char* filename, const PointCloud_RGB& pc, const int max_cnt = 10000, const bool color = false);

void downSample(const PointCloud_RGB& src, PointCloud_RGB& to);

bool gicpfallback(const PointCloud_RGB& from, const PointCloud_RGB& to, Eigen::Matrix4f& transform);

#endif /* GICP_FALLBACK_H_ */