38 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_
39 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_
41 #include <pcl/registration/transformation_estimation.h>
45 namespace registration
58 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
62 typedef boost::shared_ptr<TransformationEstimation2D<PointSource, PointTarget, Scalar> >
Ptr;
63 typedef boost::shared_ptr<const TransformationEstimation2D<PointSource, PointTarget, Scalar> >
ConstPtr;
79 Matrix4 &transformation_matrix)
const;
90 const std::vector<int> &indices_src,
92 Matrix4 &transformation_matrix)
const;
104 const std::vector<int> &indices_src,
106 const std::vector<int> &indices_tgt,
107 Matrix4 &transformation_matrix)
const;
120 Matrix4 &transformation_matrix)
const;
132 Matrix4 &transformation_matrix)
const;
143 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
144 const Eigen::Matrix<Scalar, 4, 1> ¢roid_src,
145 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
146 const Eigen::Matrix<Scalar, 4, 1> ¢roid_tgt,
147 Matrix4 &transformation_matrix)
const;
153 #include <pcl/registration/impl/transformation_estimation_2D.hpp>
Iterator class for point clouds with or without given indices.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences