43 #include <pcl/registration/transformation_estimation.h>
44 #include <pcl/cloud_iterator.h>
47 namespace registration {
56 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
60 using Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
62 shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
81 Matrix4& transformation_matrix)
const override;
94 Matrix4& transformation_matrix)
const override;
110 Matrix4& transformation_matrix)
const override;
122 Matrix4& transformation_matrix)
const override;
133 Matrix4& transformation_matrix)
const;
144 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_src_demean,
145 const Eigen::Matrix<Scalar, 4, 1>& centroid_src,
146 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_tgt_demean,
147 const Eigen::Matrix<Scalar, 4, 1>& centroid_tgt,
148 Matrix4& transformation_matrix)
const;
156 #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
IndicesAllocator<> Indices
Type used for indices in PCL.