Point Cloud Library (PCL)
1.11.1
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44 #include <pcl/registration/transformation_estimation.h>
45 #include <pcl/registration/warp_point_rigid.h>
49 namespace registration
58 template <
typename Po
intSource,
typename Po
intTarget,
typename MatScalar =
float>
71 using Ptr = shared_ptr<TransformationEstimationLM<PointSource, PointTarget, MatScalar> >;
72 using ConstPtr = shared_ptr<const TransformationEstimationLM<PointSource, PointTarget, MatScalar> >;
74 using VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>;
75 using Vector4 = Eigen::Matrix<MatScalar, 4, 1>;
117 Matrix4 &transformation_matrix)
const override;
128 const std::vector<int> &indices_src,
130 Matrix4 &transformation_matrix)
const override;
143 const std::vector<int> &indices_src,
145 const std::vector<int> &indices_tgt,
146 Matrix4 &transformation_matrix)
const override;
159 Matrix4 &transformation_matrix)
const override;
184 Vector4 s (p_src.x, p_src.y, p_src.z, 0);
185 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
186 return ((s - t).norm ());
201 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
202 return ((p_src - t).norm ());
224 template<
typename _Scalar,
int NX=Eigen::Dynamic,
int NY=Eigen::Dynamic>
233 using InputType = Eigen::Matrix<_Scalar,InputsAtCompileTime,1>;
234 using ValueType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,1>;
235 using JacobianType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,InputsAtCompileTime>;
353 #include <pcl/registration/impl/transformation_estimation_lm.hpp>
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
Defines functions, macros and traits for allocating and using memory.
shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > > Ptr