Statistics
| Branch: | Revision:

root / rgbdslam / src / gicp-fallback.h @ 9240aaa3

History | View | Annotate | Download (1.29 KB)

1
/* This file is part of RGBDSLAM.
2
 * 
3
 * RGBDSLAM is free software: you can redistribute it and/or modify
4
 * it under the terms of the GNU General Public License as published by
5
 * the Free Software Foundation, either version 3 of the License, or
6
 * (at your option) any later version.
7
 * 
8
 * RGBDSLAM is distributed in the hope that it will be useful,
9
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
11
 * GNU General Public License for more details.
12
 * 
13
 * You should have received a copy of the GNU General Public License
14
 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.
15
 */
16

    
17

    
18
/*
19
 * gicp.h
20
 *
21
 *  Created on: Jan 23, 2011
22
 *      Author: engelhar
23
 */
24
  
25
#ifndef GICP_FALLBACK_H_
26
#define GICP_FALLBACK_H_
27

    
28
#include <pcl/registration/icp.h>
29
#include <pcl/registration/registration.h>
30
#include <Eigen/Core>
31

    
32
typedef pcl::PointXYZRGB Point;
33
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud_RGB;
34

    
35

    
36
void saveCloud(const char* filename, const PointCloud_RGB& pc, const int max_cnt = 10000, const bool color = false);
37

    
38
void downSample(const PointCloud_RGB& src, PointCloud_RGB& to);
39

    
40
bool gicpfallback(const PointCloud_RGB& from, const PointCloud_RGB& to, Eigen::Matrix4f& transform);
41

    
42

    
43

    
44
#endif /* GICP_FALLBACK_H_ */