43 #include <pcl/point_cloud.h>
44 #include <pcl/point_representation.h>
45 #include <pcl/kdtree/impl/kdtree_flann.hpp>
46 #include <pcl/registration/gicp.h>
63 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
71 x = y = z = 0.0f; data[3] = 1.0f;
105 class PCL_EXPORTS GeneralizedIterativeClosestPoint6D :
public GeneralizedIterativeClosestPoint<PointXYZRGBA, PointXYZRGBA>
107 typedef PointXYZRGBA PointSource;
108 typedef PointXYZRGBA PointTarget;
116 GeneralizedIterativeClosestPoint6D (
float lab_weight = 0.032f);
124 setInputSource (
const PointCloudSourceConstPtr& cloud);
132 setInputTarget (
const PointCloudTargetConstPtr& target);
141 computeTransformation (PointCloudSource& output,
142 const Eigen::Matrix4f& guess);
150 searchForNeighbors (
const PointXYZLAB& query, std::vector<int>& index, std::vector<float>&
distance);
160 KdTreeFLANN<PointXYZLAB> target_tree_lab_;
166 class MyPointRepresentation :
public PointRepresentation<PointXYZLAB>
172 typedef boost::shared_ptr<MyPointRepresentation> Ptr;
173 typedef boost::shared_ptr<const MyPointRepresentation> ConstPtr;
175 MyPointRepresentation ()
182 ~MyPointRepresentation ()
189 return Ptr (
new MyPointRepresentation (*
this));
193 copyToFloatArray (
const PointXYZLAB &p,
float * out)
const
206 MyPointRepresentation point_rep_;
210 #endif //#ifndef PCL_GICP6D_H_