#include <boost/make_shared.hpp>
#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/filters/filter.h>
#include <pcl/features/normal_3d.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/transforms.h>
#include <pcl/visualization/pcl_visualizer.h>

Include dependency graph for pairwise_incremental_registration.cpp:

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, Eigen::aligned_allocator< PCD > > &models)
	Load a set of PCD files that we want to register together.
int	main (int argc, char **argv)
void	pairAlign (const PointCloud::Ptr cloud_src, const PointCloud::Ptr cloud_tgt, PointCloud::Ptr output, Eigen::Matrix4f &final_transform, bool downsample=false)
	Align a pair of PointCloud datasets and return the result.
void	showCloudsLeft (const PointCloud::Ptr cloud_target, const PointCloud::Ptr cloud_source)
	Display source and target on the first viewport of the visualizer.
void	showCloudsRight (const PointCloudWithNormals::Ptr cloud_target, const PointCloudWithNormals::Ptr cloud_source)
	Display source and target on the second viewport of the visualizer.
Variables
pcl::visualization::PCLVisualizer *	p
int	vp_1
int	vp_2

Typedef Documentation

typedef pcl::PointCloud<PointT> PointCloud

Definition at line 64 of file pairwise_incremental_registration.cpp.

typedef pcl::PointCloud<PointNormalT> PointCloudWithNormals

Definition at line 66 of file pairwise_incremental_registration.cpp.

typedef pcl::PointNormal PointNormalT

Definition at line 65 of file pairwise_incremental_registration.cpp.

typedef pcl::PointXYZ PointT

Definition at line 63 of file pairwise_incremental_registration.cpp.

Function Documentation

void loadData	(	int	argc,
		char **	argv,
		std::vector< PCD, Eigen::aligned_allocator< 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 165 of file pairwise_incremental_registration.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 326 of file pairwise_incremental_registration.cpp.

void pairAlign	(	const PointCloud::Ptr	cloud_src,
		const PointCloud::Ptr	cloud_tgt,
		PointCloud::Ptr	output,
		Eigen::Matrix4f &	final_transform,
		bool	downsample = `false`
	)

Align a pair of PointCloud datasets and return the result.

Parameters:

cloud_src	the source PointCloud
cloud_tgt	the target PointCloud
output	the resultant aligned source PointCloud
final_transform	the resultant transform between source and target

Definition at line 202 of file pairwise_incremental_registration.cpp.