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_;