#include "typedefs.h"
#include <pcl/registration/ia_ransac.h>
#include <pcl/registration/icp.h>

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Functions
Eigen::Matrix4f	computeInitialAlignment (const PointCloudPtr &source_points, const LocalDescriptorsPtr &source_descriptors, const PointCloudPtr &target_points, const LocalDescriptorsPtr &target_descriptors, float min_sample_distance, float max_correspondence_distance, int nr_iterations)
Eigen::Matrix4f	refineAlignment (const PointCloudPtr &source_points, const PointCloudPtr &target_points, const Eigen::Matrix4f &initial_alignment, float max_correspondence_distance, float outlier_rejection_threshold, float transformation_epsilon, float max_iterations)

Function Documentation

Eigen::Matrix4f computeInitialAlignment	(	const PointCloudPtr &	source_points,
		const LocalDescriptorsPtr &	source_descriptors,
		const PointCloudPtr &	target_points,
		const LocalDescriptorsPtr &	target_descriptors,
		float	min_sample_distance,
		float	max_correspondence_distance,
		int	nr_iterations
	)

Eigen::Matrix4f refineAlignment	(	const PointCloudPtr &	source_points,
		const PointCloudPtr &	target_points,
		const Eigen::Matrix4f &	initial_alignment,
		float	max_correspondence_distance,
		float	outlier_rejection_threshold,
		float	transformation_epsilon,
		float	max_iterations
	)

Functions