util3d_registration.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef UTIL3D_REGISTRATION_H_
#define UTIL3D_REGISTRATION_H_

#include <rtabmap/core/RtabmapExp.h>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <rtabmap/core/Transform.h>
#include <opencv2/core/core.hpp>

namespace rtabmap
{

namespace util3d
{

int RTABMAP_EXP getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
                                                        const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
                                                        float maxDistance);

Transform RTABMAP_EXP transformFromXYZCorrespondencesSVD(
        const pcl::PointCloud<pcl::PointXYZ> & cloud1,
        const pcl::PointCloud<pcl::PointXYZ> & cloud2);

Transform RTABMAP_EXP transformFromXYZCorrespondences(
                const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
                const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
                double inlierThreshold = 0.02,
                int iterations = 100,
                int refineModelIterations = 10,
                double refineModelSigma = 3.0,
                std::vector<int> * inliers = 0,
                cv::Mat * variance = 0);

void RTABMAP_EXP computeVarianceAndCorrespondences(
                const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
                const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
                double maxCorrespondenceDistance,
                double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
                double & variance,
                int & correspondencesOut);
void RTABMAP_EXP computeVarianceAndCorrespondences(
                const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
                const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
                double maxCorrespondenceDistance,
                double & variance,
                int & correspondencesOut);

Transform RTABMAP_EXP icp(
                const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
                const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
                double maxCorrespondenceDistance,
                int maximumIterations,
                bool & hasConverged,
                pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
                float epsilon = 0.0f,
                bool icp2D = false);

Transform RTABMAP_EXP icpPointToPlane(
                const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
                const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
                double maxCorrespondenceDistance,
                int maximumIterations,
                bool & hasConverged,
                pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
                float epsilon = 0.0f,
                bool icp2D = false);

} // namespace util3d
} // namespace rtabmap

#endif /* UTIL3D_REGISTRATION_H_ */