43 #include <pcl/registration/registration.h>
44 #include <pcl/registration/transformation_estimation_svd.h>
53 template <
typename Po
intSource,
typename Po
intTarget,
typename FeatureT>
83 typedef boost::shared_ptr<SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT> >
Ptr;
84 typedef boost::shared_ptr<const SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT> >
ConstPtr;
138 reg_name_ =
"SampleConsensusInitialAlignment";
207 boost::shared_ptr<ErrorFunctor>
215 getRandomIndex (
int n) {
return (static_cast<int> (n * (rand () / (RAND_MAX + 1.0)))); };
226 std::vector<int> &sample_indices);
237 std::vector<int> &corresponding_indices);
273 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
277 #include <pcl/registration/impl/ia_ransac.hpp>
279 #endif //#ifndef IA_RANSAC_H_