icp.h
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00001 /*
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00040 
00041 #ifndef PCL_APPS_IN_HAND_SCANNER_ICP_H
00042 #define PCL_APPS_IN_HAND_SCANNER_ICP_H
00043 
00044 #include <pcl/pcl_exports.h>
00045 #include <pcl/apps/in_hand_scanner/boost.h>
00046 #include <pcl/apps/in_hand_scanner/eigen.h>
00047 #include <pcl/apps/in_hand_scanner/common_types.h>
00048 
00050 // Forward declarations
00052 
00053 namespace pcl
00054 {
00055   template <typename PointT>
00056   class KdTree;
00057 } // End namespace pcl
00058 
00060 // ICP
00062 
00063 namespace pcl
00064 {
00065   namespace ihs
00066   {
00071     class PCL_EXPORTS ICP
00072     {
00073       public:
00074 
00075         typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
00076         typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
00077         typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
00078         typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
00079 
00080         typedef pcl::ihs::Mesh         Mesh;
00081         typedef pcl::ihs::MeshPtr      MeshPtr;
00082         typedef pcl::ihs::MeshConstPtr MeshConstPtr;
00083 
00085         ICP ();
00086 
00091         void
00092         setEpsilon (const float epsilon);
00093 
00094         float
00095         getEpsilon () const;
00102         void
00103         setMaxIterations (const unsigned int max_iter);
00104 
00105         unsigned int
00106         getMaxIterations () const;
00113         void
00114         setMinOverlap (const float overlap);
00115 
00116         float
00117         getMinOverlap () const;
00124         void
00125         setMaxFitness (const float fitness);
00126 
00127         float
00128         getMaxFitness () const;
00135         void
00136         setCorrespondenceRejectionFactor (const float factor);
00137 
00138         float
00139         getCorrespondenceRejectionFactor () const;
00146         void
00147         setMaxAngle (const float angle);
00148 
00149         float
00150         getMaxAngle () const;
00160         bool
00161         findTransformation (const MeshConstPtr&              mesh_model,
00162                             const CloudXYZRGBNormalConstPtr& cloud_data,
00163                             const Eigen::Matrix4f&           T_init,
00164                             Eigen::Matrix4f&                 T_final);
00165 
00166       private:
00167 
00168         typedef pcl::PointNormal              PointNormal;
00169         typedef pcl::PointCloud <PointNormal> CloudNormal;
00170         typedef CloudNormal::Ptr              CloudNormalPtr;
00171         typedef CloudNormal::ConstPtr         CloudNormalConstPtr;
00172 
00173         typedef pcl::KdTree <PointNormal>        KdTree;
00174         typedef boost::shared_ptr <KdTree>       KdTreePtr;
00175         typedef boost::shared_ptr <const KdTree> KdTreeConstPtr;
00176 
00182         CloudNormalConstPtr
00183         selectModelPoints (const MeshConstPtr&    mesh_model,
00184                            const Eigen::Matrix4f& T_inv) const;
00185 
00190         CloudNormalConstPtr
00191         selectDataPoints (const CloudXYZRGBNormalConstPtr& cloud_data) const;
00192 
00199         bool
00200         minimizePointPlane (const CloudNormal& cloud_source,
00201                             const CloudNormal& cloud_target,
00202                             Eigen::Matrix4f&   T) const;
00203 
00205         // Members
00207 
00208         KdTreePtr kd_tree_;
00209 
00210         // Convergence
00211         float epsilon_; // in cm^2
00212 
00213         // Registration failure
00214         unsigned int max_iterations_;
00215         float min_overlap_; // [0 1]
00216         float max_fitness_; // in cm^2
00217 
00218         // Correspondence rejection
00219         float factor_;
00220         float max_angle_; // in degrees
00221     };
00222   } // End namespace ihs
00223 } // End namespace pcl
00224 
00225 #endif // PCL_APPS_IN_HAND_SCANNER_ICP_H


ros_in_hand_scanner
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autogenerated on Thu Jun 6 2019 20:39:38