fixed compile

.gitignore

@@ -15,4 +15,3 @@ CMakeCache.txt
 Makefile
 KinectICP/bin
 KinectICP/build
-KinectICP/launch

KinectICP/include/KinectICP/icp/icp_correspondences_check.h

@@ -31,7 +31,7 @@
  * Based on orignal code written by Radu Rusu.
  * Modified by Hozefa Indorewala
  */
-#include <pointcloud_registration4/icp/registration_correspondences_check.h>
+#include <KinectICP/icp/registration_correspondences_check.h>
 
 #ifndef _ICP_CORRESPONDENCES_CHECK_H_
 #define _ICP_CORRESPONDENCES_CHECK_H_

KinectICP/include/KinectICP/icp/registration_correspondences_check.h

@@ -238,6 +238,6 @@ namespace pcl
   };
 }
 
-#include "pointcloud_registration4/icp/registration_correspondences_check.hpp"
+#include "KinectICP/icp/registration_correspondences_check.hpp"
 
 #endif  //#ifndef _REGISTRATION_CORRESPONDENCES_CHECK_H_

KinectICP/include/KinectICP/pointcloud_registration_point_types.h

@@ -47,7 +47,7 @@ namespace pcl
 
 }
 
-#include <pointcloud_registration4/pointcloud_registration_point_types.hpp>  // Include struct definitions
+#include <KinectICP/pointcloud_registration_point_types.hpp>  // Include struct definitions
 
 
 // ==============================

KinectICP/launch/pointcloud_registration_node.launch

@@ -0,0 +1,53 @@
+<launch>
+  <!--node pkg="KinectICP" type="KinectICP" name="KinectICP" output="screen" respawn="false" launch-prefix="xterm -e gdb -args"-->
+
+  <node pkg="KinectICP" type="KinectICP" name="KinectICP" output="screen" respawn="false">
+
+    <!-- Topic to publish the final registered point cloud --> 
+    <param name="publish_merged_pointcloud_topic" value="/merged_pointcloud"/>
+
+    <!-- Topic to subscribe to receive point clouds --> 
+    <param name="subscribe_pointcloud_topic" value="/camera/rgb/points"/>		#/autonomous_exploration/incremental_pointcloud
+
+    <!-- Maximum number of iterations for the icp algorithm -->
+    <param name="max_number_of_iterations_icp" value="100"/>
+
+    <!-- Maximum number of nearest neigbors to look for in the radius search for the icp algorithm -->
+    <param name="max_nn_icp" value="10" />
+
+    <!-- Maximum number of nearest neigbors to look for in the radius search to get the overlapping region of two point clouds -->
+    <param name="max_nn_overlap" value="10" />
+
+    <!-- Radius for the radius search for the icp algorithm -->
+    <param name="radius_icp" value="0.05" />
+
+    <!-- Radius for the radius search to get the overlapping region of two point clouds -->
+    <param name="radius_overlap" value="0.05" />
+
+    <!-- Set true if wish to filter outliers, based on the Statistical Outlier Removal in pcl -->
+    <param name="filter_outliers" value="true"/>
+
+    <!-- Set true if wish to downsample the point cloud before registration (Speeds up processing significantly) -->
+    <param name="downsample_pointcloud_before" value="false"/>
+
+    <!-- Set true if wish to downsample the point cloud after registration -->
+    <param name="downsample_pointcloud_after" value="true"/>
+
+    <!-- Downsample leaf size -->
+    <param name="downsample_leafsize" value="0.035"/>
+
+    <!-- Maximum z-coordinate difference between two correspondences which is allowed -->
+    <param name="epsilon_z" value="0.01"/>
+
+    <!-- Set true if wish to filter correspondences based on curvature difference -->
+    <param name="curvature_check" value="true" />
+
+    <!-- Maximum curvature value difference between two correspondences which is allowed -->
+    <param name="epsilon_curvature" value="0.01"/>
+
+    <!-- Transformation epsilon value to be reached for convergence -->
+    <param name="epsilon_transformation" value="1e-8"/>
+
+ </node>
+
+</launch>

KinectICP/src/kinect_icp.cpp

@@ -1,6 +1,6 @@
 #include <ros/ros.h>
 #include <sensor_msgs/PointCloud2.h>
-#include <pointcloud_registration4/pointcloud_registration_point_types.h>
+#include <KinectICP/pointcloud_registration_point_types.h>
 #include <pcl/io/pcd_io.h>
 #include <Eigen/SVD>
 #include <sensor_msgs/point_cloud_conversion.h>
@@ -34,7 +34,7 @@
 #include "pcl/registration/transforms.h" //for the transformation function
 #include <pcl/features/normal_3d_omp.h>
 
-#include <pointcloud_registration4/icp/icp_correspondences_check.h> //for icp
+#include <KinectICP/icp/icp_correspondences_check.h> //for icp
 #include <algorithm> //for the sort and unique functions
 
 #include <ctime>