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

• Defined in File registration.hpp

Function Documentation

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

Computes rigid registration with default scale/centroid outputs.

Parameters:

• sourcePoints_ – Source points transformed by the estimated pose.

• targetPoints_ – Target points used as alignment reference.

• estimate_ – Output pose mapping sourcePoints_ toward targetPoints_.

Returns:

true when the solver produces a valid estimate.