ICPPointAlign.hpp

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#ifndef ICPPOINTALIGN_HPP_
#define ICPPOINTALIGN_HPP_
 
#include "KDTree.hpp"
#include "SLAMScanWrapper.hpp"
 
#include "lvr2/types/MatrixTypes.hpp"
 
namespace lvr2
{
 
class ICPPointAlign
{
public:
    ICPPointAlign(SLAMScanPtr model, SLAMScanPtr data);
 
    Transformd match();
 
    virtual ~ICPPointAlign() = default;
 
    void    setMaxMatchDistance(double distance);
    void    setMaxIterations(int iterations);
    void    setMaxLeafSize(int maxLeafSize);
    void    setEpsilon(double epsilon);
    void    setVerbose(bool verbose);
 
    double  getMaxMatchDistance() const;
    int     getMaxIterations() const;
    int     getMaxLeafSize() const;
    double  getEpsilon() const;
    bool    getVerbose() const;
 
protected:
 
    double      m_epsilon;
    double      m_maxDistanceMatch;
    int         m_maxIterations;
    int         m_maxLeafSize;
 
    bool        m_verbose;
 
    SLAMScanPtr m_modelCloud;
    SLAMScanPtr m_dataCloud;
 
    KDTreePtr   m_searchTree;
};
 
} /* namespace lvr2 */
 
#endif /* ICPPOINTALIGN_HPP_ */