.. _file__home_runner_work_slam-mer_slam-mer_utils_include_registration.hpp:

File registration.hpp
=====================

|exhale_lsh| :ref:`Parent directory <dir__home_runner_work_slam-mer_slam-mer_utils_include>` (``/home/runner/work/slam-mer/slam-mer/utils/include``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Point-cloud registration interfaces for rigid alignment. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``/home/runner/work/slam-mer/slam-mer/utils/include/registration.hpp``)
-----------------------------------------------------------------------------------




Detailed Description
--------------------

Copyright (C) 2026 Mitsubishi Electric Research Laboratories (MERL) SPDX-License-Identifier: AGPL-3.0-or-later

Declares registration routines that estimate rotation, translation, and optional scale from matched 3D points. Used by map alignment and relocalization paths. Pedro Miraldo 

Valter Piedade 






Includes
--------


- ``types/point3d.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_point3d.hpp`)

- ``types/pose.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_pose.hpp`)






Namespaces
----------


- :ref:`namespace_slam_mer`

- :ref:`namespace_slam_mer__registration`


Functions
---------


- :ref:`exhale_function_registration_8hpp_1a148c881f7544336fd28d0630edd3d0d1`

- :ref:`exhale_function_registration_8hpp_1a0d54ed97c580730fa814f03046907ec3`

- :ref:`exhale_function_registration_8hpp_1aa42cd721efcb9cdd1cff8da5032cdfc9`