icp.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: icp.h 35810 2011-02-08 00:03:46Z rusu $
 *
 */

#ifndef PCL_ICP_H_
#define PCL_ICP_H_

#include "pcl/io/pcd_io.h"
// PCL includes
#include "pcl/registration/registration.h"
#include "pcl/features/feature.h"
#include "pcl/sample_consensus/ransac.h"
#include "pcl/sample_consensus/sac_model_registration.h"

#include <Eigen/SVD>

namespace pcl
{

  template <typename PointSource, typename PointTarget>
  class IterativeClosestPoint : public Registration<PointSource, PointTarget>
  {
    using Registration<PointSource, PointTarget>::reg_name_;
    using Registration<PointSource, PointTarget>::getClassName;
    using Registration<PointSource, PointTarget>::input_;
    using Registration<PointSource, PointTarget>::indices_;
    using Registration<PointSource, PointTarget>::target_;
    using Registration<PointSource, PointTarget>::nr_iterations_;
    using Registration<PointSource, PointTarget>::max_iterations_;
    using Registration<PointSource, PointTarget>::previous_transformation_;
    using Registration<PointSource, PointTarget>::final_transformation_;
    using Registration<PointSource, PointTarget>::transformation_;
    using Registration<PointSource, PointTarget>::transformation_epsilon_;
    using Registration<PointSource, PointTarget>::converged_;
    using Registration<PointSource, PointTarget>::corr_dist_threshold_;
    using Registration<PointSource, PointTarget>::inlier_threshold_;
    using Registration<PointSource, PointTarget>::min_number_correspondences_;

    typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
    typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
    typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

    typedef typename Registration<PointSource, PointTarget>::PointCloudTarget PointCloudTarget;

    typedef PointIndices::Ptr PointIndicesPtr;
    typedef PointIndices::ConstPtr PointIndicesConstPtr;

    public:

      IterativeClosestPoint () 
      {
        reg_name_ = "IterativeClosestPoint";
      };

    protected:

      virtual void computeTransformation (PointCloudSource &output);
  };
}

#include "pcl/registration/icp.hpp"

#endif  //#ifndef PCL_ICP_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013