root / rgbdslam / src / gicp-fallback.h @ 9240aaa3
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/* This file is part of RGBDSLAM.
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*
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* RGBDSLAM is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RGBDSLAM is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* gicp.h
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*
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* Created on: Jan 23, 2011
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* Author: engelhar
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*/
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#ifndef GICP_FALLBACK_H_
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#define GICP_FALLBACK_H_
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#include <pcl/registration/icp.h> |
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#include <pcl/registration/registration.h> |
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#include <Eigen/Core> |
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typedef pcl::PointXYZRGB Point;
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typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud_RGB;
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void saveCloud(const char* filename, const PointCloud_RGB& pc, const int max_cnt = 10000, const bool color = false); |
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void downSample(const PointCloud_RGB& src, PointCloud_RGB& to); |
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bool gicpfallback(const PointCloud_RGB& from, const PointCloud_RGB& to, Eigen::Matrix4f& transform); |
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#endif /* GICP_FALLBACK_H_ */ |