rgbdslam: gicp-fallback.h Source File

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00001 /* This file is part of RGBDSLAM.
00002  * 
00003  * RGBDSLAM is free software: you can redistribute it and/or modify
00004  * it under the terms of the GNU General Public License as published by
00005  * the Free Software Foundation, either version 3 of the License, or
00006  * (at your option) any later version.
00007  * 
00008  * RGBDSLAM is distributed in the hope that it will be useful,
00009  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00010  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011  * GNU General Public License for more details.
00012  * 
00013  * You should have received a copy of the GNU General Public License
00014  * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.
00015  */
00016 
00017 
00018 /*
00019  * gicp.h
00020  *
00021  *  Created on: Jan 23, 2011
00022  *      Author: engelhar
00023  */
00024   
00025 #ifndef GICP_FALLBACK_H_
00026 #define GICP_FALLBACK_H_
00027 
00028 #include <pcl/registration/icp.h>
00029 #include <pcl/registration/registration.h>
00030 #include <Eigen/Core>
00031 #include "parameter_server.h"
00032 
00033 
00034 void saveCloud(const char* filename, const pointcloud_type& pc, const int max_cnt = 10000, const bool color = false);
00035 
00036 void downSample(const pointcloud_type& src, pointcloud_type& to);
00037 
00038 bool gicpfallback(const pointcloud_type& from, const pointcloud_type& to, Eigen::Matrix4f& transform);
00039 
00040 
00041 
00042 #endif /* GICP_FALLBACK_H_ */