45 #include <pcl/registration/icp.h>
46 #include <pcl/registration/transformation_estimation_lm.h>
67 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
77 typedef boost::shared_ptr< IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> >
Ptr;
78 typedef boost::shared_ptr< const IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> >
ConstPtr;
86 reg_name_ =
"IterativeClosestPointNonLinear";
93 #endif //#ifndef PCL_ICP_NL_H_
boost::shared_ptr< IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar > > Ptr
TransformationEstimationPtr transformation_estimation_
A TransformationEstimation object, used to calculate the 4x4 rigid transformation.
This file defines compatibility wrappers for low level I/O functions.
IterativeClosestPointNonLinear()
Empty constructor.
boost::shared_ptr< const IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar > > ConstPtr
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Registration< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend...
IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm...
std::string reg_name_
The registration method name.
int min_number_correspondences_
The minimum number of correspondences that the algorithm needs before attempting to estimate the tran...