38 #ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_ 39 #define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_ 41 template <
typename Po
intT,
typename Scalar>
43 abs_transform_ (
Matrix4::Identity ())
46 template <
typename Po
intT,
typename Scalar>
bool 49 assert (registration_);
56 full_cloud_ = new_cloud_transformed;
57 abs_transform_ = delta_estimate;
61 registration_->setInputSource (new_cloud);
62 registration_->setInputTarget (full_cloud_);
64 registration_->align (*new_cloud_transformed, abs_transform_ * delta_estimate);
66 bool converged = registration_->hasConverged ();
70 abs_transform_ = registration_->getFinalTransformation ();
71 *full_cloud_ += *new_cloud_transformed;
80 return (abs_transform_);
83 template <
typename Po
intT,
typename Scalar>
inline void 87 abs_transform_ = Matrix4::Identity ();
90 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=true)
Apply an affine transform defined by an Eigen Transform.
PointCloud represents the base class in PCL for storing collections of 3D points.