43#include <pcl/registration/transformation_estimation.h>
44#include <pcl/registration/transformation_estimation_lm.h>
45#include <pcl/registration/warp_point_rigid.h>
48namespace registration {
56template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
60 using Ptr = shared_ptr<
72 using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
85 return ((s -
t).dot(n));
94 return ((
p_src -
t).dot(n));
Iterator class for point clouds with or without given indices.
shared_ptr< PointCloud< PointSource > > Ptr
shared_ptr< const PointCloud< PointSource > > ConstPtr
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr