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 using Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar> >;
62 using ConstPtr = shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar> >;
83 Matrix4 &transformation_matrix)
const override;
94 const std::vector<int> &indices_src,
96 Matrix4 &transformation_matrix)
const override;
108 const std::vector<int> &indices_src,
110 const std::vector<int> &indices_tgt,
111 Matrix4 &transformation_matrix)
const override;
124 Matrix4 &transformation_matrix)
const override;
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.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences