pointcloudRegistration.h

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#ifndef POINTCLOUD_REGISTRATION_H
#define POINTCLOUD_REGISTRATION_H

#include <pcl/common/common_headers.h>

typedef pcl::PointCloud<pcl::PointNormal> pointCloud;

namespace filter
{
Eigen::Matrix4d icp(
    const pointCloud::Ptr source
    , const pointCloud::Ptr target
    , double* fitness_score
    , const double iterations);

Eigen::Matrix4d icpLM(
    const pointCloud::Ptr source
    , const pointCloud::Ptr target
    , double* fitness_score
    , const double iterations);

void downsample(pointCloud::Ptr cloud);

void bilateralFiltering(pointCloud::Ptr organized_cloud);

void movingLeastSquares(pointCloud::Ptr cloud);

void computeSurfaceNormals(pointCloud::Ptr cloud);

void covarianceDownsampling(pointCloud::Ptr cloud);

pcl::PointCloud<pcl::FPFHSignature33>::Ptr
fastPointFeatureHistogram(const pointCloud::Ptr input);

Eigen::Matrix4d
initialAlignment(
    pointCloud::Ptr source
    , pcl::PointCloud<pcl::FPFHSignature33>::Ptr source_descriptors
    , pointCloud::Ptr target
    , pcl::PointCloud<pcl::FPFHSignature33>::Ptr target_descriptors);
}

#endif // POINTCLOUD_REGISTRATION_H