43#include <pcl/registration/registration.h>
58template <
typename Po
intSource,
typename Po
intTarget>
60 using PointCloudSource =
62 using PointCloudSourcePtr =
typename PointCloudSource::Ptr;
63 using PointCloudSourceConstPtr =
typename PointCloudSource::ConstPtr;
65 using PointCloudTarget =
72 using Ptr = shared_ptr<NormalDistributionsTransform2D<PointSource, PointTarget>>;
74 shared_ptr<const NormalDistributionsTransform2D<PointSource, PointTarget>>;
84 reg_name_ =
"NormalDistributionsTransform2D";
151 const Eigen::Matrix4f& guess)
override;
177#include <pcl/registration/impl/ndt_2d.hpp>
IndicesPtr indices_
A pointer to the vector of point indices to use.
Registration represents the base registration class for general purpose, ICP-like methods.
Matrix4 final_transformation_
The final transformation matrix estimated by the registration method after N iterations.
std::function< UpdateVisualizerCallbackSignature > update_visualizer_
Callback function to update intermediate source point cloud position during it's registration to the ...
std::string reg_name_
The registration method name.
Matrix4 transformation_
The transformation matrix estimated by the registration method.
int nr_iterations_
The number of iterations the internal optimization ran for (used internally).
Matrix4 previous_transformation_
The previous transformation matrix estimated by the registration method (used internally).
bool converged_
Holds internal convergence state, given user parameters.
int max_iterations_
The maximum number of iterations the internal optimization should run for.
double transformation_rotation_epsilon_
The maximum rotation difference between two consecutive transformations in order to consider converge...
double transformation_epsilon_
The maximum difference between two consecutive transformations in order to consider convergence (user...
PointCloudTargetConstPtr target_
The input point cloud dataset target.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr