icp.h

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 * $Id: icp.h 6149 2012-07-04 22:54:14Z rusu $
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#ifndef PCL_ICP_H_
#define PCL_ICP_H_

// PCL includes
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_registration.h>
#include <pcl/registration/registration.h>
#include <pcl/registration/transformation_estimation_svd.h>

namespace pcl
{
  template <typename PointSource, typename PointTarget>
  class IterativeClosestPoint : public Registration<PointSource, PointTarget>
  {
    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";
        ransac_iterations_ = 1000;
        transformation_estimation_.reset (new pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>);
      };

    protected:
      virtual void 
      computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess);

      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>::ransac_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_;
      using Registration<PointSource, PointTarget>::update_visualizer_;
      using Registration<PointSource, PointTarget>::correspondence_distances_;
      using Registration<PointSource, PointTarget>::euclidean_fitness_epsilon_;
      using Registration<PointSource, PointTarget>::transformation_estimation_;
  };
}

#include <pcl/registration/impl/icp.hpp>

#endif  //#ifndef PCL_ICP_H_