40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_
41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_
43 #include <pcl/registration/transformation_estimation_point_to_plane.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<TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> >
Ptr;
72 typedef boost::shared_ptr<const TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> >
ConstPtr;
74 typedef Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>
VectorX;
75 typedef Eigen::Matrix<MatScalar, 4, 1>
Vector4;
122 Matrix4 &transformation_matrix)
const;
134 const std::vector<int> &indices_src,
136 Matrix4 &transformation_matrix)
const;
150 const std::vector<int> &indices_src,
152 const std::vector<int> &indices_tgt,
153 Matrix4 &transformation_matrix)
const;
167 Matrix4 &transformation_matrix)
const;
203 boost::shared_ptr<pcl::registration::WarpPointRigid<PointSource, PointTarget, MatScalar> >
warp_point_;
209 template<
typename _Scalar,
int NX=Eigen::Dynamic,
int NY=Eigen::Dynamic>
218 typedef Eigen::Matrix<_Scalar,InputsAtCompileTime,1>
InputType;
219 typedef Eigen::Matrix<_Scalar,ValuesAtCompileTime,1>
ValueType;
220 typedef Eigen::Matrix<_Scalar,ValuesAtCompileTime,InputsAtCompileTime>
JacobianType;
333 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
338 #include <pcl/registration/impl/transformation_estimation_point_to_plane_weighted.hpp>
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< PointCloud< PointT > > Ptr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< ::pcl::PointIndices > Ptr
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr