Point Cloud Library (PCL)
1.9.1
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40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_
41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_
43 #include <pcl/registration/transformation_estimation.h>
44 #include <pcl/registration/warp_point_rigid.h>
45 #include <pcl/registration/distances.h>
49 namespace registration
58 template <
typename Po
intSource,
typename Po
intTarget,
typename MatScalar =
float>
71 typedef boost::shared_ptr<TransformationEstimationLM<PointSource, PointTarget, MatScalar> >
Ptr;
72 typedef boost::shared_ptr<const TransformationEstimationLM<PointSource, PointTarget, MatScalar> >
ConstPtr;
74 typedef Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>
VectorX;
75 typedef Eigen::Matrix<MatScalar, 4, 1>
Vector4;
117 Matrix4 &transformation_matrix)
const;
128 const std::vector<int> &indices_src,
130 Matrix4 &transformation_matrix)
const;
143 const std::vector<int> &indices_src,
145 const std::vector<int> &indices_tgt,
146 Matrix4 &transformation_matrix)
const;
159 Matrix4 &transformation_matrix)
const;
184 Vector4 s (p_src.x, p_src.y, p_src.z, 0);
185 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
186 return ((s - t).norm ());
201 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
202 return ((p_src - t).norm ());
218 boost::shared_ptr<pcl::registration::WarpPointRigid<PointSource, PointTarget, MatScalar> >
warp_point_;
224 template<
typename _Scalar,
int NX=Eigen::Dynamic,
int NY=Eigen::Dynamic>
233 typedef Eigen::Matrix<_Scalar,InputsAtCompileTime,1>
InputType;
234 typedef Eigen::Matrix<_Scalar,ValuesAtCompileTime,1>
ValueType;
235 typedef Eigen::Matrix<_Scalar,ValuesAtCompileTime,InputsAtCompileTime>
JacobianType;
348 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
353 #include <pcl/registration/impl/transformation_estimation_lm.hpp>
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointSource > > Ptr
boost::shared_ptr< ::pcl::PointIndices > Ptr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr
boost::shared_ptr< const PointCloud< PointSource > > ConstPtr