File registration.hpp

↰ Parent directory (/home/runner/work/slam-mer/slam-mer/utils/include)

Point-cloud registration interfaces for rigid alignment.

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 (File point3d.hpp)

• types/pose.hpp (File pose.hpp)

Namespaces

• Namespace slam_mer

• Namespace slam_mer::registration

Functions

• Function slam_mer::registration::compute_best_scalar_s

• Function slam_mer::registration::compute_estimate(const point3d_t::vector&, const point3d_t::vector&, pose_t&, double&, point3d_t::vector&)

• Function slam_mer::registration::compute_estimate(const point3d_t::vector&, const point3d_t::vector&, pose_t&)