38 #ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
39 #define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
45 namespace registration
48 template <
typename Po
intT,
typename Scalar>
50 abs_transform_ (
Matrix4::Identity ())
53 template <
typename Po
intT,
typename Scalar>
bool
56 assert (registration_);
63 full_cloud_ = new_cloud_transformed;
64 abs_transform_ = delta_estimate;
68 registration_->setInputSource (new_cloud);
69 registration_->setInputTarget (full_cloud_);
71 registration_->align (*new_cloud_transformed, abs_transform_ * delta_estimate);
73 bool converged = registration_->hasConverged ();
77 abs_transform_ = registration_->getFinalTransformation ();
78 *full_cloud_ += *new_cloud_transformed;
87 return (abs_transform_);
90 template <
typename Po
intT,
typename Scalar>
inline void
94 abs_transform_ = Matrix4::Identity ();
97 template <
typename Po
intT,
typename Scalar>
inline void
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Transform< Scalar, 3, Eigen::Affine > &transform, bool copy_all_fields)
Apply an affine transform defined by an Eigen Transform.
PointCloud represents the base class in PCL for storing collections of 3D points. ...