40 #ifndef PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_
41 #define PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_
43 #include <pcl/registration/eigen.h>
44 #include <pcl/correspondence.h>
45 #include <pcl/registration/convergence_criteria.h>
49 namespace registration
64 template <
typename Scalar =
float>
68 typedef boost::shared_ptr<DefaultConvergenceCriteria<Scalar> >
Ptr;
69 typedef boost::shared_ptr<const DefaultConvergenceCriteria<Scalar> >
ConstPtr;
71 typedef Eigen::Matrix<Scalar, 4, 4>
Matrix4;
222 for (
size_t i = 0; i < correspondences.size (); ++i)
223 mse += correspondences[i].distance;
224 mse /= double (correspondences.size ());
273 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
278 #include <pcl/registration/impl/default_convergence_criteria.hpp>
280 #endif // PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_