39 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_ 40 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_ 42 #include <pcl/registration/transformation_estimation.h> 43 #include <pcl/registration/warp_point_rigid.h> 44 #include <pcl/cloud_iterator.h> 48 namespace registration
62 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
66 typedef boost::shared_ptr<TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> >
Ptr;
67 typedef boost::shared_ptr<const TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> >
ConstPtr;
83 Matrix4 &transformation_matrix)
const;
94 const std::vector<int> &indices_src,
96 Matrix4 &transformation_matrix)
const;
108 const std::vector<int> &indices_src,
110 const std::vector<int> &indices_tgt,
111 Matrix4 &transformation_matrix)
const;
124 Matrix4 &transformation_matrix)
const;
145 typename std::vector<Scalar>::const_iterator& weights_it,
146 Matrix4 &transformation_matrix)
const;
159 const double & tx,
const double & ty,
const double & tz,
160 Matrix4 &transformation_matrix)
const;
167 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls_weighted.hpp> Iterator class for point clouds with or without given indices.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences