36 #ifndef INCLUDE_NRT_POINTCLOUD2_REGISTRATION_REGISTRATION_H_
37 #define INCLUDE_NRT_POINTCLOUD2_REGISTRATION_REGISTRATION_H_
80 Registration( CorrespondenceEstimationBase::SharedPtr
const correspondenceMethod,
81 std::vector<CorrespondenceRejectionBase::SharedPtr>
const & correspondenceRejectionCriteria,
83 ConvergenceCriteriaBase::SharedPtr
const convergeCriteria );
93 AffineTransform
align(
PointCloud2 const source,
PointCloud2 const target, AffineTransform
const & guess = AffineTransform::Identity() );
99 CorrespondenceEstimationBase::SharedPtr itsCorrespondenceEstimation;
101 std::vector<CorrespondenceRejectionBase::SharedPtr> itsCorrespondenceRejection;
105 ConvergenceCriteriaBase::SharedPtr itsConvergenceCriteria;
111 #endif // INCLUDE_NRT_POINTCLOUD2_REGISTRATION_REGISTRATION_H_
112 #endif // NRT_HAVE_CLOUD