pairwise_incremental_registration.cpp File Reference

#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/point_representation.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/registration/icp.h>
#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <pcl/pcl_base.h>
#include "pcl/kdtree/kdtree.h"
#include "pcl/kdtree/kdtree_flann.h"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "QR"
#include "Householder"
#include "Jacobi"
#include "src/Core/util/DisableMSVCWarnings.h"
#include "src/misc/Solve.h"
#include "src/SVD/JacobiSVD.h"
#include "src/SVD/UpperBidiagonalization.h"
#include "src/Core/util/EnableMSVCWarnings.h"
#include "pcl/win32_macros.h"
#include "pcl/features/feature.h"
#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/registration/registration.h>
#include <Eigen/SVD>
#include "pcl/sample_consensus/ransac.h"
#include "pcl/sample_consensus/sac_model_registration.h"
#include <cminpack.h>
#include <pcl/registration/transforms.h>
#include "pcl_visualization/pcl_visualizer.h"

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Classes
class	MyPointRepresentation
struct	PCD
struct	PCDComparator
Typedefs
typedef pcl::PointCloud< PointT >	PointCloud
typedef pcl::PointCloud < PointNormalT >	PointCloudWithNormals
typedef pcl::PointNormal	PointNormalT
typedef pcl::PointXYZ	PointT
Functions
void	loadData (int argc, char **argv, std::vector< PCD > &models)
	Load a set of PCD files that we want to register together.
int	main (int argc, char **argv)
void	pairAlign (const PointCloud &cloud_src, const PointCloud &cloud_tgt, PointCloud &output, bool downsample=false)
	Align a pair of PointCloud datasets and return the result.
Variables
pcl_visualization::PCLVisualizer *	p
int	vp_1
int	vp_2

Typedef Documentation

typedef pcl::PointCloud<PointT> PointCloud

Definition at line 59 of file pairwise_incremental_registration.cpp.

typedef pcl::PointCloud<PointNormalT> PointCloudWithNormals

Definition at line 61 of file pairwise_incremental_registration.cpp.

typedef pcl::PointNormal PointNormalT

Definition at line 60 of file pairwise_incremental_registration.cpp.

typedef pcl::PointXYZ PointT

Definition at line 58 of file pairwise_incremental_registration.cpp.

Function Documentation

void loadData	(	int	argc,
		char **	argv,
		std::vector< PCD > &	models
	)

Load a set of PCD files that we want to register together.

Parameters:

	argc	the number of arguments (pass from main ())
	argv	the actual command line arguments (pass from main ())
	models	the resultant vector of point cloud datasets

Definition at line 110 of file pairwise_incremental_registration.cpp.