#include "MapRegistration.h"
#include <algorithm>
#include <deque>
#include <iostream>
#include <iterator>
#include <string>
#include <utility>
#include <Eigen/Core>
#include <pcl/PointIndices.h>
#include <pcl/common/centroid.h>
#include <pcl/common/transforms.h>
#include <pcl/correspondence.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/pcl_macros.h>
#include <pcl/registration/impl/transformation_estimation_2D.hpp>
#include <pcl/registration/transformation_estimation_2D.h>
#include <pcl/search/kdtree.h>
#include <pcl/segmentation/extract_clusters.h>
#include <opencv2/core/types.hpp>
#include <opencv2/imgproc.hpp>
#include "ArmarXCore/core/util/StringHelpers.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <armarx/localization_and_mapping/cartographer_adapter/map_registration/wykobi_types.h>
#include <armarx/localization_and_mapping/cartographer_adapter/types.h>
#include <armarx/localization_and_mapping/cartographer_adapter/utils.h>
#include "../InterpolatingTimeQueue.h"
#include "PointToModelICP.h"
#include "models.h"
#include "pcl_filter.h"
#include "wykobi_utils.h"
#include <cartographer/mapping/map_builder_interface.h>

Include dependency graph for MapRegistration.cpp:

Namespaces
	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.

	armarx::cartographer

Functions
template<typename PointT >
MapRegistration::ModelCorrection	align (const pcl::PointCloud< PointT > &cloudSource, const wykobi::Model &model2, const Eigen::Isometry3f &world_T_map)

const MapRegistration::Cluster &	findNearestCluster (const Eigen::Vector3f &position, const MapRegistration::Clusters &clusters, const Eigen::Isometry3f &world_T_map)

cv::Point2f	toCV (const pcl::PointXYZ &pt)

Eigen::Vector2f	toEigen (const cv::Point2f &pt)

pcl::PointXYZ	toPCL (const Eigen::Vector3f &v)

Namespaces

Functions