Point Cloud Library (PCL)
1.10.0
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44 #include <pcl/registration/transformation_estimation.h>
45 #include <pcl/registration/warp_point_rigid.h>
46 #include <pcl/registration/distances.h>
50 namespace registration
59 template <
typename Po
intSource,
typename Po
intTarget,
typename MatScalar =
float>
75 using VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>;
76 using Vector4 = Eigen::Matrix<MatScalar, 4, 1>;
118 Matrix4 &transformation_matrix)
const override;
129 const std::vector<int> &indices_src,
131 Matrix4 &transformation_matrix)
const override;
144 const std::vector<int> &indices_src,
146 const std::vector<int> &indices_tgt,
147 Matrix4 &transformation_matrix)
const override;
160 Matrix4 &transformation_matrix)
const override;
185 Vector4 s (p_src.x, p_src.y, p_src.z, 0);
186 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
187 return ((s - t).norm ());
202 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
203 return ((p_src - t).norm ());
225 template<
typename _Scalar,
int NX=Eigen::Dynamic,
int NY=Eigen::Dynamic>
234 using InputType = Eigen::Matrix<_Scalar,InputsAtCompileTime,1>;
235 using ValueType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,1>;
236 using JacobianType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,InputsAtCompileTime>;
354 #include <pcl/registration/impl/transformation_estimation_lm.hpp>
Defines all the PCL and non-PCL macros used.
This file defines compatibility wrappers for low level I/O functions.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< const ::pcl::PointIndices > ConstPtr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< PointCloud< PointSource > > Ptr
shared_ptr< const PointCloud< PointSource > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > > Ptr