44#include <pcl/registration/icp.h>
45#include <pcl/registration/transformation_estimation_lm.h>
66template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
88 reg_name_ =
"IterativeClosestPointNonLinear";
Iterator class for point clouds with or without given indices.
IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm.
void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override
Rigid transformation computation method with initial guess.
IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend.
typename Registration< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
IterativeClosestPointNonLinear()
Empty constructor.
std::string reg_name_
The registration method name.
Eigen::Matrix< Scalar, 4, 4 > Matrix4
TransformationEstimationPtr transformation_estimation_
A TransformationEstimation object, used to calculate the 4x4 rigid transformation.
int min_number_correspondences_
The minimum number of correspondences that the algorithm needs before attempting to estimate the tran...