44 namespace registration {
77 const CorrespondenceSet &corres)
const = 0;
84 virtual Eigen::Matrix4d ComputeTransformation(
87 const CorrespondenceSet &corres)
const = 0;
100 : with_scaling_(with_scaling) {}
110 const CorrespondenceSet &corres)
const override;
111 Eigen::Matrix4d ComputeTransformation(
114 const CorrespondenceSet &corres)
const override;
123 bool with_scaling_ =
false;
127 TransformationEstimationType::PointToPoint;
142 std::shared_ptr<RobustKernel> kernel)
143 : kernel_(
std::move(kernel)) {}
152 const CorrespondenceSet &corres)
const override;
153 Eigen::Matrix4d ComputeTransformation(
156 const CorrespondenceSet &corres)
const override;
160 std::shared_ptr<RobustKernel> kernel_ = std::make_shared<L2Loss>();
164 TransformationEstimationType::PointToPlane;
Definition: Optional.h:912
std::pair< core::Tensor, core::Tensor > CorrespondenceSet
Definition: TransformationEstimation.h:55
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
Definition: PinholeCameraIntrinsic.cpp:35
TransformationEstimationType
Definition: TransformationEstimation.h:48