43#include <pcl/registration/transformation_estimation.h>
44#include <pcl/registration/warp_point_rigid.h>
48namespace registration {
57template <
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>;
185 return ((s -
t).norm());
200 return ((
p_src -
t).norm());
224 template <
typename _Scalar,
int NX = Eigen::Dynamic,
int NY = Eigen::Dynamic>
228 using InputType = Eigen::Matrix<_Scalar, InputsAtCompileTime, 1>;
229 using ValueType = Eigen::Matrix<_Scalar, ValuesAtCompileTime, 1>;
231 Eigen::Matrix<_Scalar, ValuesAtCompileTime, InputsAtCompileTime>;
350#include <pcl/registration/impl/transformation_estimation_lm.hpp>
Iterator class for point clouds with or without given indices.
shared_ptr< PointCloud< PointSource > > Ptr
shared_ptr< const PointCloud< PointSource > > ConstPtr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr