38#ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
39#define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
43namespace registration {
45template <
typename Po
intT,
typename Scalar>
50template <
typename Po
intT,
typename Scalar>
67 registration_->setInputTarget(full_cloud_);
71 bool converged = registration_->hasConverged();
74 abs_transform_ = registration_->getFinalTransformation();
81template <
typename Po
intT,
typename Scalar>
85 return (abs_transform_);
88template <
typename Po
intT,
typename Scalar>
93 abs_transform_ = Matrix4::Identity();
96template <
typename Po
intT,
typename Scalar>
103template <
typename Po
intT,
typename Scalar>
Iterator class for point clouds with or without given indices.
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Matrix< Scalar, 4, 4 > &transform, bool copy_all_fields)
Apply a rigid transform defined by a 4x4 matrix.