#include <point_cloud_with_known_correspondences_aligner.h>

Public Member Functions
	PointCloudWithKnownCorrespondencesAligner (const PointCloudWithKnownCorrespondencesAlignerParams &params)

boost::optional< localization_common::PoseWithCovariance >	Align (const std::vector< Eigen::Vector3d > &source_points, const std::vector< Eigen::Vector3d > &target_points, const Eigen::Isometry3d &initial_target_T_source_estimate, const boost::optional< const std::vector< Eigen::Vector3d > & > source_normals=boost::none, const boost::optional< const std::vector< Eigen::Vector3d > & > target_normals=boost::none) const

boost::optional< localization_common::PoseWithCovariance >	ComputeRelativeTransform (const std::vector< Eigen::Vector3d > &source_points, const std::vector< Eigen::Vector3d > &target_points, const boost::optional< const std::vector< Eigen::Vector3d > & > source_normals=boost::none, const boost::optional< const std::vector< Eigen::Vector3d > & > target_normals=boost::none, const Eigen::Isometry3d &initial_target_T_source_estimate=Eigen::Isometry3d::Identity()) const

boost::optional< localization_common::PoseWithCovariance >	ComputeRelativeTransform (const std::vector< Eigen::Vector3d > &source_points, const std::vector< Eigen::Vector3d > &target_points, const Eigen::Isometry3d &initial_target_T_source_estimate=Eigen::Isometry3d::Identity()) const

Constructor & Destructor Documentation

◆ PointCloudWithKnownCorrespondencesAligner()

point_cloud_common::PointCloudWithKnownCorrespondencesAligner::PointCloudWithKnownCorrespondencesAligner ( const PointCloudWithKnownCorrespondencesAlignerParams & params )

explicit

Member Function Documentation

◆ Align()

boost::optional< lc::PoseWithCovariance > point_cloud_common::PointCloudWithKnownCorrespondencesAligner::Align	(	const std::vector< Eigen::Vector3d > &	source_points,
		const std::vector< Eigen::Vector3d > &	target_points,
		const Eigen::Isometry3d &	initial_target_T_source_estimate,
		const boost::optional< const std::vector< Eigen::Vector3d > & >	source_normals = `boost::none`,
		const boost::optional< const std::vector< Eigen::Vector3d > & >	target_normals = `boost::none`
	)		const

◆ ComputeRelativeTransform() [1/2]

boost::optional< lc::PoseWithCovariance > point_cloud_common::PointCloudWithKnownCorrespondencesAligner::ComputeRelativeTransform	(	const std::vector< Eigen::Vector3d > &	source_points,
		const std::vector< Eigen::Vector3d > &	target_points,
		const boost::optional< const std::vector< Eigen::Vector3d > & >	source_normals = `boost::none`,
		const boost::optional< const std::vector< Eigen::Vector3d > & >	target_normals = `boost::none`,
		const Eigen::Isometry3d &	initial_target_T_source_estimate = `Eigen::Isometry3d::Identity()`
	)		const

◆ ComputeRelativeTransform() [2/2]

boost::optional< localization_common::PoseWithCovariance > point_cloud_common::PointCloudWithKnownCorrespondencesAligner::ComputeRelativeTransform	(	const std::vector< Eigen::Vector3d > &	source_points,
		const std::vector< Eigen::Vector3d > &	target_points,
		const Eigen::Isometry3d &	initial_target_T_source_estimate = `Eigen::Isometry3d::Identity()`
	)		const

The documentation for this class was generated from the following files: