44 #include <pcl/point_cloud.h> 45 #include <pcl/point_representation.h> 46 #include <pcl/kdtree/impl/kdtree_flann.hpp> 47 #include <pcl/registration/gicp.h> 72 x = y = z = 0.0f; data[3] = 1.0f;
106 class PCL_EXPORTS GeneralizedIterativeClosestPoint6D :
public GeneralizedIterativeClosestPoint<PointXYZRGBA, PointXYZRGBA>
108 using PointSource = PointXYZRGBA;
109 using PointTarget = PointXYZRGBA;
117 GeneralizedIterativeClosestPoint6D (
float lab_weight = 0.032f);
125 setInputSource (
const PointCloudSourceConstPtr& cloud)
override;
133 setInputTarget (
const PointCloudTargetConstPtr& target)
override;
142 computeTransformation (PointCloudSource& output,
143 const Eigen::Matrix4f& guess)
override;
151 searchForNeighbors (
const PointXYZLAB& query, std::vector<int>& index, std::vector<float>&
distance);
161 KdTreeFLANN<PointXYZLAB> target_tree_lab_;
167 class MyPointRepresentation :
public PointRepresentation<PointXYZLAB>
173 using Ptr = shared_ptr<MyPointRepresentation>;
174 using ConstPtr = shared_ptr<const MyPointRepresentation>;
176 MyPointRepresentation ()
183 ~MyPointRepresentation ()
190 return Ptr (
new MyPointRepresentation (*
this));
194 copyToFloatArray (
const PointXYZLAB &p,
float * out)
const override 207 MyPointRepresentation point_rep_;
shared_ptr< PointCloud< PointT > > Ptr
Defines functions, macros and traits for allocating and using memory.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
A custom point type for position and CIELAB color value.
int nr_dimensions_
The number of dimensions in this point's vector (i.e.
Defines all the PCL implemented PointT point type structures.
POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::_PointXYZLAB,(float, x, x)(float, y, y)(float, z, z)(float, L, L)(float, a, a)(float, b, b)) namespace pcl
float distance(const PointT &p1, const PointT &p2)
bool trivial_
Indicates whether this point representation is trivial.
Defines all the PCL and non-PCL macros used.