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

• Defined in File registration.hpp

Function Documentation

bool slam_mer::registration::compute_estimate(const point3d_t::vector &sourcePoints_, const point3d_t::vector &targetPoints_, pose_t &estimate_, double &scale_, point3d_t::vector &centroid_)

Computes rigid registration between two matched 3D point sets.

Parameters:

• sourcePoints_ – Source points transformed by the estimated pose.

• targetPoints_ – Target points used as alignment reference.

• estimate_ – Output pose mapping sourcePoints_ toward targetPoints_.

• scale_ – Output similarity scale estimated by the solver.

• centroid_ – Output centroids used during registration preprocessing.

Returns:

true when the solver produces a valid estimate.