41 #ifndef PCL_REGISTRATION_LUM_H_
42 #define PCL_REGISTRATION_LUM_H_
44 #include <pcl/pcl_base.h>
45 #include <pcl/registration/eigen.h>
46 #include <pcl/registration/boost.h>
47 #include <pcl/common/transforms.h>
48 #include <pcl/correspondence.h>
49 #include <pcl/registration/boost_graph.h>
59 namespace registration
109 template<
typename Po
intT>
113 typedef boost::shared_ptr<LUM<PointT> >
Ptr;
114 typedef boost::shared_ptr<const LUM<PointT> >
ConstPtr;
124 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
131 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
134 typedef boost::adjacency_list<boost::eigen_vecS, boost::eigen_vecS, boost::bidirectionalS, VertexProperties, EdgeProperties, boost::no_property, boost::eigen_listS>
SLAMGraph;
136 typedef typename SLAMGraph::vertex_descriptor
Vertex;
137 typedef typename SLAMGraph::edge_descriptor
Edge;
143 , max_iterations_ (5)
144 , convergence_threshold_ (0.0)
169 typename SLAMGraph::vertices_size_type
258 inline Eigen::Affine3f
274 const Vertex &target_vertex,
337 float convergence_threshold_;
342 #ifdef PCL_NO_PRECOMPILE
343 #include <pcl/registration/impl/lum.hpp>
346 #endif // PCL_REGISTRATION_LUM_H_