icp_registration_fitter.h

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 * $Id: model_registration.h 36182 2010-04-27 16:17:14Z rusu $
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#ifndef MODEL_REGISTRATION_H_
#define MODEL_REGISTRATION_H_

#include <pcl/registration/registration.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>

#include "tabletop_object_detector/model_fitter.h"

namespace tabletop_object_detector 
{
  template <typename T>
  class ICPRegistrationFitter : public ModelToCloudFitter
  {
    public:

    void initializeFromMesh(const arm_navigation_msgs::Shape &mesh) 
    {
      std::vector<tf::Vector3> btVectors;
      sampleMesh(mesh, btVectors, 0.002 );
      cloudmodel_.points.resize (btVectors.size ());
      for (int i = 0; i < (int)btVectors.size (); ++i)
      {
        cloudmodel_.points[i].x = btVectors[i].x ();
        cloudmodel_.points[i].y = btVectors[i].y ();
        cloudmodel_.points[i].z = btVectors[i].z ();
      }
    }
    
    ModelFitInfo fitPointCloud (const T &cloud)
    {
      pcl::IterativeClosestPoint<T, T> reg;
      reg.setMaximumIterations (10000);
      reg.setTransformationEpsilon (1e-5);
      //T::Ptr cloudptr;
      //cloudptr.reset (new T (cloud));
      //reg.setInputCloud (cloudptr);
      //reg.setInputModel (cloudmodel_);
      T cloud_out;
      reg.compute (cloud_out);
      
      double score = reg.getFitnessScore ();

      Eigen::Matrix4f tma = reg.getFinalTransformationMatrix (); 
      geometry_msgs::Pose p;
      p.position.x = tma (0, 3);
      p.position.y = tma (1, 3);
      p.position.z = tma (2, 3);
      Eigen::Quaternion<double> q (tma.block<3,3>(0,0));
      p.orientation.x = q.x ();
      p.orientation.y = q.y ();
      p.orientation.z = q.z ();
      p.orientation.w = q.w ();

      return ModelFitInfo(model_id_, p, score);
    }

  private:
    T cloudmodel_;
  };
} //namespace tabletop_object_detector

#endif