41 #include <pcl/kdtree/impl/kdtree_flann.hpp>
42 #include <pcl/registration/gicp.h>
43 #include <pcl/memory.h>
44 #include <pcl/pcl_exports.h>
45 #include <pcl/point_cloud.h>
46 #include <pcl/point_representation.h>
47 #include <pcl/point_types.h>
101 const Eigen::Matrix4f& guess)
override;
111 std::vector<float>& distance);
133 using Ptr = shared_ptr<MyPointRepresentation>;
134 using ConstPtr = shared_ptr<const MyPointRepresentation>;
KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< GeneralizedIterativeClosestPoint< PointXYZRGBA, PointXYZRGBA, float >> Ptr
void copyToFloatArray(const PointXYZLAB &p, float *out) const override
Copy point data from input point to a float array.
float lab_weight_
The color weight.
KdTreeFLANN< PointXYZLAB > target_tree_lab_
6d-tree to search in model cloud.
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
shared_ptr< MyPointRepresentation > Ptr
A point structure representing Euclidean xyz coordinates, and the RGBA color.
pcl::PointCloud< PointXYZLAB >::Ptr cloud_lab_
Holds the converted (LAB) data cloud.
pcl::PointCloud< PointXYZLAB >::Ptr target_lab_
Holds the converted (LAB) model cloud.
Custom point representation to perform kdtree searches in more than 3 (i.e.
PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...
A point structure representing Euclidean xyz coordinates, and the CIELAB color.
shared_ptr< const MyPointRepresentation > ConstPtr
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
MyPointRepresentation point_rep_
Enables 6d searches with kd-tree class using the color weight.
GeneralizedIterativeClosestPoint is an ICP variant that implements the generalized iterative closest ...
GeneralizedIterativeClosestPoint6D integrates L*a*b* color space information into the Generalized Ite...