global_register.h

#ifndef GLOBAL_REGISTER_H
#define GLOBAL_REGISTER_H

#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/keypoints/harris_3d.h>
#include <pcl/features/fpfh.h>
#include <pcl/features/fpfh_omp.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/ia_ransac.h>
#include <pcl/io/pcd_io.h>

#include "dual_quaternions.h"

#include <Eigen/Dense>

typedef pcl::PointXYZ Point;

class GlobalDQReg {
  public:
    GlobalDQReg();
    void pairwiseRegister();
    void runDQDiffusion();
    void saveAllKeyPoints(std::string);

  private:
    std::vector<pcl::PointCloud<Point>::Ptr > bunny_clouds_;
    std::vector<Eigen::Matrix4f> pairwise_transformations_;
    transducer dq_transducer;

    void loadPCDFiles();
    void saveCloudKeyPoints(std::string, int);
    void getTransformOfPair(pcl::PointCloud<Point>::Ptr& cloud_1, pcl::PointCloud<Point>::Ptr& cloud_2, Eigen::Matrix4f& tranform);
    void computeHarrisKeyPoint(pcl::PointCloud<Point>::Ptr& cloud, pcl::PointCloud<Point>::Ptr& out_keypoints, int cloud_id);
    void computeFPFHFeatures(pcl::PointCloud<Point>::Ptr& cloud, pcl::PointCloud<Point>::Ptr& keypoints, pcl::PointCloud<pcl::FPFHSignature33>::Ptr& fpfhs, int cloud_id);
    void saveFilesofCloud(int cloud_id, pcl::PointCloud<Point>::Ptr& cloud, pcl::PointCloud<Point>::Ptr& keypoints, pcl::PointCloud<pcl::FPFHSignature33>::Ptr& fpfhs);

};

#endif