Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008 #ifndef JOINT_OPTIMIZE_WRAPPER_CPP_
00009 #define JOINT_OPTIMIZE_WRAPPER_CPP_
00010
00011 #include "rgbd_registration/typedefs.h"
00012
00013 Eigen::Matrix4f performJointOptimization (PointCloudConstPtr source_cloud_ptr,
00014 PointCloudConstPtr target_cloud_ptr, std::vector<Eigen::Vector4f, Eigen::aligned_allocator<
00015 Eigen::Vector4f> >& source_feature_3d_locations, std::vector<Eigen::Vector4f,
00016 Eigen::aligned_allocator<Eigen::Vector4f> >& target_feature_3d_locations,
00017 Eigen::Matrix4f& initial_transformation);
00018
00019 #endif