28 #ifndef ODOMETRYLOAM_H_
29 #define ODOMETRYLOAM_H_
34 #include <loam_velodyne/BasicScanRegistration.h>
35 #include <loam_velodyne/BasicLaserOdometry.h>
36 #include <loam_velodyne/BasicLaserMapping.h>
37 #include <loam_velodyne/BasicTransformMaintenance.h>
38 #include <loam_velodyne/MultiScanRegistration.h>
57 std::vector<pcl::PointCloud<pcl::PointXYZI> > segmentScanRings(
const pcl::PointCloud<pcl::PointXYZ> & laserCloudIn);
59 loam::BasicScanRegistration scanRegistration_;
60 loam::MultiScanMapper scanMapper_;
61 loam::BasicLaserOdometry * laserOdometry_;
62 loam::BasicLaserMapping * laserMapping_;
63 loam::BasicTransformMaintenance transformMaintenance_;