43 #include <pcl/correspondence.h>
44 #include <pcl/common/transforms.h>
45 #include <pcl/registration/correspondence_types.h>
49 namespace registration
61 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
65 using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
79 Matrix4 &transformation_matrix)
const = 0;
90 const std::vector<int> &indices_src,
92 Matrix4 &transformation_matrix)
const = 0;
104 const std::vector<int> &indices_src,
106 const std::vector<int> &indices_tgt,
107 Matrix4 &transformation_matrix)
const = 0;
120 Matrix4 &transformation_matrix)
const = 0;
123 using Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> >;
124 using ConstPtr = shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> >;
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences