40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ 41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ 43 #include <pcl/registration/transformation_estimation.h> 44 #include <pcl/cloud_iterator.h> 48 namespace registration
57 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
61 typedef boost::shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar> >
Ptr;
62 typedef boost::shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar> >
ConstPtr;
83 Matrix4 &transformation_matrix)
const;
94 const std::vector<int> &indices_src,
96 Matrix4 &transformation_matrix)
const;
108 const std::vector<int> &indices_src,
110 const std::vector<int> &indices_tgt,
111 Matrix4 &transformation_matrix)
const;
124 Matrix4 &transformation_matrix)
const;
136 Matrix4 &transformation_matrix)
const;
147 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
148 const Eigen::Matrix<Scalar, 4, 1> ¢roid_src,
149 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
150 const Eigen::Matrix<Scalar, 4, 1> ¢roid_tgt,
151 Matrix4 &transformation_matrix)
const;
159 #include <pcl/registration/impl/transformation_estimation_svd.hpp> Iterator class for point clouds with or without given indices.
This file defines compatibility wrappers for low level I/O functions.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences