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;
144 typename std::vector<Scalar>::const_iterator& weights_it,
145 Matrix4 &transformation_matrix)
const;
158 const double & tx,
const double & ty,
const double & tz,
159 Matrix4 &transformation_matrix)
const;
166 #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