Globally Consistent Scan Matching based on an algorithm by Lu and Milios
Globally Consistent Scan Matching based on an algorithm by Lu and Milios

This is the first version of this class and there are still some things to be improved.
The class is basically an implementation of the following two papers:
 "Globally Consistent Range Scan Alignment for Environment Mapping", F.Lu and E.Milios, 1997
 "The Efficient Extension of Globally Consistent Scan Matching to 6DoF", D.Borrmann, J.Elseberg, K.Lingemann, A.Neuchter, J.Hertzberg, 2008
Thanks to Jochen Sprickerhof for all his help in writing this class.


git-svn-id: 5398946ba177a3e438c2dae55e2cdfc2fb96c905@3835 a9d63959-f2ad-4865-b262-bf0e56cfafb6

zhangxaochen/pcl,jakobwilm/pcl,zavataafnan/pcl-truck,LZRS/pcl,cascheberg/pcl,krips89/pcl_newfeatures,chatchavan/pcl,locnx1984/pcl,stefanbuettner/pcl,DaikiMaekawa/pcl,wgapl/pcl,locnx1984/pcl,nikste/pcl,raydtang/pcl,nh2/pcl,mschoeler/pcl,mschoeler/pcl,mschoeler/pcl,krips89/pcl_newfeatures,MMiknis/pcl,drmateo/pcl,msalvato/pcl_kinfu_highres,drmateo/pcl,mschoeler/pcl,3dtof/pcl,Tabjones/pcl,RufaelDev/pcc-mp3dg,srbhprajapati/pcl,zhangxaochen/pcl,mikhail-matrosov/pcl,Tabjones/pcl,v4hn/pcl,RufaelDev/pcc-mp3dg,KevenRing/pcl,kanster/pcl,KevenRing/pcl,cascheberg/pcl,KevenRing/pcl,zhangxaochen/pcl,soulsheng/pcl,lebronzhang/pcl,simonleonard/pcl,damienjadeduff/pcl,fskuka/pcl,zavataafnan/pcl-truck,starius/pcl,KevenRing/vlp,jakobwilm/pcl,sbec/pcl,fskuka/pcl,sbec/pcl,mikhail-matrosov/pcl,stefanbuettner/pcl,ResByte/pcl,the-glu/pcl,MMiknis/pcl,pkuhto/pcl,raydtang/pcl,KevenRing/pcl,lebronzhang/pcl,pkuhto/pcl,nh2/pcl,3dtof/pcl,ResByte/pcl,v4hn/pcl,simonleonard/pcl,ipa-rmb/pcl,mikhail-matrosov/pcl,sbec/pcl,nikste/pcl,srbhprajapati/pcl,shyamalschandra/pcl,lebronzhang/pcl,msalvato/pcl_kinfu_highres,lydhr/pcl,damienjadeduff/pcl,shivmalhotra/pcl,ResByte/pcl,LZRS/pcl,lydhr/pcl,locnx1984/pcl,msalvato/pcl_kinfu_highres,srbhprajapati/pcl,lydhr/pcl,ipa-rmb/pcl,shyamalschandra/pcl,3dtof/pcl,raydtang/pcl,the-glu/pcl,kanster/pcl,shivmalhotra/pcl,closerbibi/pcl,shangwuhencc/pcl,starius/pcl,RufaelDev/pcc-mp3dg,starius/pcl,v4hn/pcl,zavataafnan/pcl-truck,wgapl/pcl,lydhr/pcl,MMiknis/pcl,lydhr/pcl,closerbibi/pcl,jeppewalther/kinfu_segmentation,fanxiaochen/mypcltest,zavataafnan/pcl-truck,wgapl/pcl,raydtang/pcl,Tabjones/pcl,Tabjones/pcl,kanster/pcl,shangwuhencc/pcl,soulsheng/pcl,ResByte/pcl,jeppewalther/kinfu_segmentation,drmateo/pcl,jeppewalther/kinfu_segmentation,stfuchs/pcl,damienjadeduff/pcl,krips89/pcl_newfeatures,msalvato/pcl_kinfu_highres,mikhail-matrosov/pcl,shangwuhencc/pcl,LZRS/pcl,fanxiaochen/mypcltest,pkuhto/pcl,Nerei/pcl_old_repo,chatchavan/pcl,chenxingzhe/pcl,wgapl/pcl,zavataafnan/pcl-truck,fskuka/pcl,kanster/pcl,msalvato/pcl_kinfu_highres,stefanbuettner/pcl,starius/pcl,shangwuhencc/pcl,jakobwilm/pcl,shangwuhencc/pcl,lebronzhang/pcl,damienjadeduff/pcl,MMiknis/pcl,LZRS/pcl,ipa-rmb/pcl,stfuchs/pcl,shivmalhotra/pcl,jeppewalther/kinfu_segmentation,closerbibi/pcl,the-glu/pcl,Nerei/pcl_old_repo,nikste/pcl,KevenRing/vlp,ipa-rmb/pcl,soulsheng/pcl,closerbibi/pcl,fanxiaochen/mypcltest,pkuhto/pcl,stfuchs/pcl,DaikiMaekawa/pcl,drmateo/pcl,locnx1984/pcl,stfuchs/pcl,zhangxaochen/pcl,KevenRing/vlp,mikhail-matrosov/pcl,shyamalschandra/pcl,shivmalhotra/pcl,chenxingzhe/pcl,cascheberg/pcl,starius/pcl,jakobwilm/pcl,wgapl/pcl,shyamalschandra/pcl,simonleonard/pcl,jakobwilm/pcl,RufaelDev/pcc-mp3dg,soulsheng/pcl,nh2/pcl,fskuka/pcl,raydtang/pcl,lebronzhang/pcl,srbhprajapati/pcl,chenxingzhe/pcl,sbec/pcl,drmateo/pcl,simonleonard/pcl,cascheberg/pcl,DaikiMaekawa/pcl,v4hn/pcl,DaikiMaekawa/pcl,chatchavan/pcl,kanster/pcl,nh2/pcl,cascheberg/pcl,chenxingzhe/pcl,srbhprajapati/pcl,nikste/pcl,damienjadeduff/pcl,the-glu/pcl,KevenRing/vlp,mschoeler/pcl,jeppewalther/kinfu_segmentation,locnx1984/pcl,krips89/pcl_newfeatures,v4hn/pcl,stefanbuettner/pcl,fanxiaochen/mypcltest,krips89/pcl_newfeatures,3dtof/pcl,chenxingzhe/pcl,sbec/pcl,stfuchs/pcl,LZRS/pcl,ipa-rmb/pcl,MMiknis/pcl,shyamalschandra/pcl,fanxiaochen/mypcltest,KevenRing/vlp,3dtof/pcl,soulsheng/pcl,Nerei/pcl_old_repo,fskuka/pcl,pkuhto/pcl,RufaelDev/pcc-mp3dg,zhangxaochen/pcl,chatchavan/pcl,ResByte/pcl,DaikiMaekawa/pcl,Tabjones/pcl,closerbibi/pcl,simonleonard/pcl,Nerei/pcl_old_repo,stefanbuettner/pcl,KevenRing/pcl,shivmalhotra/pcl,the-glu/pcl,nikste/pcl