icp_nl.h
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00001 /*
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00040 
00041 #ifndef PCL_ICP_NL_H_
00042 #define PCL_ICP_NL_H_
00043 
00044 // PCL includes
00045 #include <pcl/registration/icp.h>
00046 #include <pcl/registration/transformation_estimation_lm.h>
00047 
00048 namespace pcl
00049 {
00067   template <typename PointSource, typename PointTarget, typename Scalar = float>
00068   class IterativeClosestPointNonLinear : public IterativeClosestPoint<PointSource, PointTarget, Scalar>
00069   {
00070     using IterativeClosestPoint<PointSource, PointTarget, Scalar>::min_number_correspondences_;
00071     using IterativeClosestPoint<PointSource, PointTarget, Scalar>::reg_name_;
00072     using IterativeClosestPoint<PointSource, PointTarget, Scalar>::transformation_estimation_;
00073     using IterativeClosestPoint<PointSource, PointTarget, Scalar>::computeTransformation;
00074 
00075     public:
00076 
00077       typedef boost::shared_ptr< IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > Ptr;
00078       typedef boost::shared_ptr< const IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > ConstPtr;
00079 
00080       typedef typename Registration<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;
00081 
00083       IterativeClosestPointNonLinear ()
00084       {
00085         min_number_correspondences_ = 4;
00086         reg_name_ = "IterativeClosestPointNonLinear";
00087 
00088         transformation_estimation_.reset (new pcl::registration::TransformationEstimationLM<PointSource, PointTarget, Scalar>);
00089       }
00090   };
00091 }
00092 
00093 #endif  //#ifndef PCL_ICP_NL_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:24:53