rgbd_registration: joint_optimize

Go to the documentation of this file.
00001 /*
00002  * joint_optimize_wrapper.cpp
00003  *
00004  *  Created on: Sep 26, 2012
00005  *      Author: kidson
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 /* JOINT_OPTIMIZE_WRAPPER_CPP_ */