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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_02fe799643ef17d8aa92a466d371d870.html">pcl</a></li> </ul>
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<div class="title">pcl_registration.hpp</div> </div>
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<a href="pcl__registration_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <pcl/registration/registration.h></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <<a class="code" href="kdtree__omp_8hpp.html">small_gicp/ann/kdtree_omp.hpp</a>></span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <<a class="code" href="gaussian__voxelmap_8hpp.html">small_gicp/ann/gaussian_voxelmap.hpp</a>></span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <<a class="code" href="registration__result_8hpp.html">small_gicp/registration/registration_result.hpp</a>></span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target></div>
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<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classsmall__gicp_1_1RegistrationPCL.html">RegistrationPCL</a> : <span class="keyword">public</span> pcl::Registration<PointSource, PointTarget, float> {</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#ab8b0342d31995209074d27704e98f481"> 17</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ab8b0342d31995209074d27704e98f481">Scalar</a> = float;</div>
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<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a2895d52b45360ae879efae06ef513780"> 18</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a2895d52b45360ae879efae06ef513780">Matrix4</a> = <span class="keyword">typename</span> pcl::Registration<PointSource, PointTarget, Scalar>::Matrix4;</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
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<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a5a6f99902d67a9c799579b68fef6e15e"> 20</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a5a6f99902d67a9c799579b68fef6e15e">PointCloudSource</a> = <span class="keyword">typename</span> pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudSource;</div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#ab9eaee6f88454882f94f4072b4abf8c0"> 21</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ab9eaee6f88454882f94f4072b4abf8c0">PointCloudSourcePtr</a> = <span class="keyword">typename</span> PointCloudSource::Ptr;</div>
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<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a28569605279d472ed97b8016c5abad44"> 22</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a28569605279d472ed97b8016c5abad44">PointCloudSourceConstPtr</a> = <span class="keyword">typename</span> PointCloudSource::ConstPtr;</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
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<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#afb3508703b3dbb8cdaa6d7c503eb148d"> 24</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#afb3508703b3dbb8cdaa6d7c503eb148d">PointCloudTarget</a> = <span class="keyword">typename</span> pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudTarget;</div>
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<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a02a3f082296f2826637741fd47a53070"> 25</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a02a3f082296f2826637741fd47a53070">PointCloudTargetPtr</a> = <span class="keyword">typename</span> PointCloudTarget::Ptr;</div>
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<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#ab5b16b623e799ee3f420a7eaffe61025"> 26</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ab5b16b623e799ee3f420a7eaffe61025">PointCloudTargetConstPtr</a> = <span class="keyword">typename</span> PointCloudTarget::ConstPtr;</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
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<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a96a08ffff99e930aa22413088203f62a"> 28</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a96a08ffff99e930aa22413088203f62a">Ptr</a> = pcl::shared_ptr<RegistrationPCL<PointSource, PointTarget>>;</div>
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<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a5dc1ac0423a51ffc352c2e508dadec79"> 29</a></span>  <span class="keyword">using</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a5dc1ac0423a51ffc352c2e508dadec79">ConstPtr</a> = pcl::shared_ptr<const RegistrationPCL<PointSource, PointTarget>>;</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">protected</span>:</div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::reg_name_;</div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::input_;</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::target_;</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::corr_dist_threshold_;</div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::nr_iterations_;</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::max_iterations_;</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::final_transformation_;</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::transformation_epsilon_;</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">using</span> pcl::Registration<PointSource, PointTarget, Scalar>::converged_;</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a0f322a2176157fb3b6ef50570b3fb5ee">RegistrationPCL</a>();</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">virtual</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a37ee9959c537f4bcfda2ea3bc8257ec2">~RegistrationPCL</a>();</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a4bfeb914ce2fd40e55f0ffcb14fbae23">setNumThreads</a>(<span class="keywordtype">int</span> n);</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a46495ed3c935747458af3d741c03665d">setCorrespondenceRandomness</a>(<span class="keywordtype">int</span> k);</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#af5958d50a3fbf00fc293e7f4a1f67ba0">setNumNeighborsForCovariance</a>(<span class="keywordtype">int</span> k);</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a0a1f42f25d29b7fde3c30f7bf95606db">setVoxelResolution</a>(<span class="keywordtype">double</span> r);</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#aedb156cea84c34b9dfcf6cf25e0331f3">setRotationEpsilon</a>(<span class="keywordtype">double</span> eps);</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ad207008e1f5995733e48178d3957f5db">setRegistrationType</a>(<span class="keyword">const</span> std::string& type);</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a138c5cacd4cd9afd801161f62303c5b8">setVerbosity</a>(<span class="keywordtype">bool</span> verbose);</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">const</span> Eigen::Matrix<double, 6, 6>& <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a5d910968f869f926e89c08b83f44abba">getFinalHessian</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a>& <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a875d61a5612c87704b7f830d9287f5d1">getRegistrationResult</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#af47475b060e965767fbff95e3f5efa42">setInputSource</a>(<span class="keyword">const</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a28569605279d472ed97b8016c5abad44">PointCloudSourceConstPtr</a>& cloud) <span class="keyword">override</span>;</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#afae9c537bc75095ecd366ddf7eed988d">setInputTarget</a>(<span class="keyword">const</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ab5b16b623e799ee3f420a7eaffe61025">PointCloudTargetConstPtr</a>& cloud) <span class="keyword">override</span>;</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a58bc7088faa3501ee189bd4f95935ed0">setSourceCovariances</a>(<span class="keyword">const</span> std::vector<Eigen::Matrix4d>& covs);</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ab258bc745d531be46622d1ed25d90eb1">setTargetCovariances</a>(<span class="keyword">const</span> std::vector<Eigen::Matrix4d>& covs);</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">const</span> std::vector<Eigen::Matrix4d>& <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a3f0234cbab8c9b18bd4b44fef7b605a3">getSourceCovariances</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keyword">const</span> std::vector<Eigen::Matrix4d>& <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a2bce42c0590800a8883686ac1e84dc69">getTargetCovariances</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#accee541f382908b8ec9c5dcd1048e260">swapSourceAndTarget</a>();</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a89e0e211158e2d81fdb8d601cc6c4516">clearSource</a>();</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#aabbdd20c1c8474743add12e4a92ba5ea">clearTarget</a>();</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">protected</span>:</div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a65ce6ffbd8ba6e6eaf103c7c0880e2c7">computeTransformation</a>(<a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a5a6f99902d67a9c799579b68fef6e15e">PointCloudSource</a>& output, <span class="keyword">const</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a2895d52b45360ae879efae06ef513780">Matrix4</a>& guess) <span class="keyword">override</span>;</div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">protected</span>:</div>
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<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#aa075e99890839ea63f0d85280da4831d"> 95</a></span>  <span class="keywordtype">int</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#aa075e99890839ea63f0d85280da4831d">num_threads_</a>; </div>
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<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#ab8f49356f8cf5017cf46c94de550a373"> 96</a></span>  <span class="keywordtype">int</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ab8f49356f8cf5017cf46c94de550a373">k_correspondences_</a>; </div>
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<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a2eb04411ed3426abbe1d2b22f10a37bb"> 97</a></span>  <span class="keywordtype">double</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a2eb04411ed3426abbe1d2b22f10a37bb">rotation_epsilon_</a>; </div>
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<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#ad991749a9378287fb9b6fe58544fa8dd"> 98</a></span>  <span class="keywordtype">double</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ad991749a9378287fb9b6fe58544fa8dd">voxel_resolution_</a>; </div>
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<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a334aa083e9521880a9588aa48e7a3695"> 99</a></span>  std::string <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a334aa083e9521880a9588aa48e7a3695">registration_type_</a>; </div>
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<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a2b8bc986c6c2bb399c1ff3372fe6410c"> 100</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a2b8bc986c6c2bb399c1ff3372fe6410c">verbose_</a>; </div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
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<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a2c72a57389925ca2ef5a418d0494597d"> 102</a></span>  std::shared_ptr<KdTree<pcl::PointCloud<PointSource>>> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a2c72a57389925ca2ef5a418d0494597d">target_tree_</a>; </div>
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<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a23e53e3f28885c4a24364ff4c328f8ce"> 103</a></span>  std::shared_ptr<KdTree<pcl::PointCloud<PointSource>>> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a23e53e3f28885c4a24364ff4c328f8ce">source_tree_</a>; </div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
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<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a63e2ee2454d4cb9b7309b0650a28519f"> 105</a></span>  std::shared_ptr<GaussianVoxelMap> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a63e2ee2454d4cb9b7309b0650a28519f">target_voxelmap_</a>; </div>
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<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#aa72b5d13ba4e6a5fdbf8785c897c4030"> 106</a></span>  std::shared_ptr<GaussianVoxelMap> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#aa72b5d13ba4e6a5fdbf8785c897c4030">source_voxelmap_</a>; </div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
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<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#a5fe053428bd6c7220b992fdee77c0346"> 108</a></span>  std::vector<Eigen::Matrix4d> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#a5fe053428bd6c7220b992fdee77c0346">target_covs_</a>; </div>
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<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#add6f5061c8736f64859d4bf72566f428"> 109</a></span>  std::vector<Eigen::Matrix4d> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#add6f5061c8736f64859d4bf72566f428">source_covs_</a>; </div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
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<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classsmall__gicp_1_1RegistrationPCL.html#ab035e4fc50e12f6c6fa1fa84a23fc65e"> 111</a></span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> <a class="code" href="classsmall__gicp_1_1RegistrationPCL.html#ab035e4fc50e12f6c6fa1fa84a23fc65e">result_</a>; </div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> };</div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="preprocessor">#include <<a class="code" href="pcl__registration__impl_8hpp.html">small_gicp/pcl/pcl_registration_impl.hpp</a>></span></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html">small_gicp::RegistrationPCL</a></div><div class="ttdoc">PCL registration interfaces.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:15</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a02a3f082296f2826637741fd47a53070"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a02a3f082296f2826637741fd47a53070">small_gicp::RegistrationPCL::PointCloudTargetPtr</a></div><div class="ttdeci">typename PointCloudTarget::Ptr PointCloudTargetPtr</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:25</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a0a1f42f25d29b7fde3c30f7bf95606db"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a0a1f42f25d29b7fde3c30f7bf95606db">small_gicp::RegistrationPCL::setVoxelResolution</a></div><div class="ttdeci">void setVoxelResolution(double r)</div><div class="ttdoc">Set the voxel resolution for VGICP.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:161</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a0f322a2176157fb3b6ef50570b3fb5ee"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a0f322a2176157fb3b6ef50570b3fb5ee">small_gicp::RegistrationPCL::RegistrationPCL</a></div><div class="ttdeci">RegistrationPCL()</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:23</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a138c5cacd4cd9afd801161f62303c5b8"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a138c5cacd4cd9afd801161f62303c5b8">small_gicp::RegistrationPCL::setVerbosity</a></div><div class="ttdeci">void setVerbosity(bool verbose)</div><div class="ttdoc">Set the verbosity flag.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:187</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a23e53e3f28885c4a24364ff4c328f8ce"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a23e53e3f28885c4a24364ff4c328f8ce">small_gicp::RegistrationPCL::source_tree_</a></div><div class="ttdeci">std::shared_ptr< KdTree< pcl::PointCloud< PointSource > > > source_tree_</div><div class="ttdoc">KdTree for source point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:103</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a28569605279d472ed97b8016c5abad44"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a28569605279d472ed97b8016c5abad44">small_gicp::RegistrationPCL::PointCloudSourceConstPtr</a></div><div class="ttdeci">typename PointCloudSource::ConstPtr PointCloudSourceConstPtr</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:22</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a2895d52b45360ae879efae06ef513780"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a2895d52b45360ae879efae06ef513780">small_gicp::RegistrationPCL::Matrix4</a></div><div class="ttdeci">typename pcl::Registration< PointSource, PointTarget, Scalar >::Matrix4 Matrix4</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:18</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a2b8bc986c6c2bb399c1ff3372fe6410c"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a2b8bc986c6c2bb399c1ff3372fe6410c">small_gicp::RegistrationPCL::verbose_</a></div><div class="ttdeci">bool verbose_</div><div class="ttdoc">Verbosity flag.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:100</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a2bce42c0590800a8883686ac1e84dc69"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a2bce42c0590800a8883686ac1e84dc69">small_gicp::RegistrationPCL::getTargetCovariances</a></div><div class="ttdeci">const std::vector< Eigen::Matrix4d > & getTargetCovariances() const</div><div class="ttdoc">Get target point covariances.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:104</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a2c72a57389925ca2ef5a418d0494597d"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a2c72a57389925ca2ef5a418d0494597d">small_gicp::RegistrationPCL::target_tree_</a></div><div class="ttdeci">std::shared_ptr< KdTree< pcl::PointCloud< PointSource > > > target_tree_</div><div class="ttdoc">KdTree for target point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:102</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a2eb04411ed3426abbe1d2b22f10a37bb"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a2eb04411ed3426abbe1d2b22f10a37bb">small_gicp::RegistrationPCL::rotation_epsilon_</a></div><div class="ttdeci">double rotation_epsilon_</div><div class="ttdoc">Rotation epsilon for convergence check.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:97</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a334aa083e9521880a9588aa48e7a3695"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a334aa083e9521880a9588aa48e7a3695">small_gicp::RegistrationPCL::registration_type_</a></div><div class="ttdeci">std::string registration_type_</div><div class="ttdoc">Registration type ("GICP" or "VGICP").</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:99</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a37ee9959c537f4bcfda2ea3bc8257ec2"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a37ee9959c537f4bcfda2ea3bc8257ec2">small_gicp::RegistrationPCL::~RegistrationPCL</a></div><div class="ttdeci">virtual ~RegistrationPCL()</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:38</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a3f0234cbab8c9b18bd4b44fef7b605a3"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a3f0234cbab8c9b18bd4b44fef7b605a3">small_gicp::RegistrationPCL::getSourceCovariances</a></div><div class="ttdeci">const std::vector< Eigen::Matrix4d > & getSourceCovariances() const</div><div class="ttdoc">Get source point covariances.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:95</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a46495ed3c935747458af3d741c03665d"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a46495ed3c935747458af3d741c03665d">small_gicp::RegistrationPCL::setCorrespondenceRandomness</a></div><div class="ttdeci">void setCorrespondenceRandomness(int k)</div><div class="ttdoc">Set the number of neighbors for covariance estimation.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:147</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a4bfeb914ce2fd40e55f0ffcb14fbae23"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a4bfeb914ce2fd40e55f0ffcb14fbae23">small_gicp::RegistrationPCL::setNumThreads</a></div><div class="ttdeci">void setNumThreads(int n)</div><div class="ttdoc">Set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:137</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a58bc7088faa3501ee189bd4f95935ed0"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a58bc7088faa3501ee189bd4f95935ed0">small_gicp::RegistrationPCL::setSourceCovariances</a></div><div class="ttdeci">void setSourceCovariances(const std::vector< Eigen::Matrix4d > &covs)</div><div class="ttdoc">Set source point covariances.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:65</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a5a6f99902d67a9c799579b68fef6e15e"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a5a6f99902d67a9c799579b68fef6e15e">small_gicp::RegistrationPCL::PointCloudSource</a></div><div class="ttdeci">typename pcl::Registration< PointSource, PointTarget, Scalar >::PointCloudSource PointCloudSource</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:20</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a5d910968f869f926e89c08b83f44abba"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a5d910968f869f926e89c08b83f44abba">small_gicp::RegistrationPCL::getFinalHessian</a></div><div class="ttdeci">const Eigen::Matrix< double, 6, 6 > & getFinalHessian() const</div><div class="ttdoc">Get the final Hessian matrix ([rx, ry, rz, tx, ty, tz]).</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:192</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a5dc1ac0423a51ffc352c2e508dadec79"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a5dc1ac0423a51ffc352c2e508dadec79">small_gicp::RegistrationPCL::ConstPtr</a></div><div class="ttdeci">pcl::shared_ptr< const RegistrationPCL< PointSource, PointTarget > > ConstPtr</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:29</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a5fe053428bd6c7220b992fdee77c0346"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a5fe053428bd6c7220b992fdee77c0346">small_gicp::RegistrationPCL::target_covs_</a></div><div class="ttdeci">std::vector< Eigen::Matrix4d > target_covs_</div><div class="ttdoc">Covariances of target points.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:108</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a63e2ee2454d4cb9b7309b0650a28519f"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a63e2ee2454d4cb9b7309b0650a28519f">small_gicp::RegistrationPCL::target_voxelmap_</a></div><div class="ttdeci">std::shared_ptr< GaussianVoxelMap > target_voxelmap_</div><div class="ttdoc">VoxelMap for target point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:105</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a65ce6ffbd8ba6e6eaf103c7c0880e2c7"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a65ce6ffbd8ba6e6eaf103c7c0880e2c7">small_gicp::RegistrationPCL::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:202</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a875d61a5612c87704b7f830d9287f5d1"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a875d61a5612c87704b7f830d9287f5d1">small_gicp::RegistrationPCL::getRegistrationResult</a></div><div class="ttdeci">const RegistrationResult & getRegistrationResult() const</div><div class="ttdoc">Get the detailed registration result.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:197</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a89e0e211158e2d81fdb8d601cc6c4516"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a89e0e211158e2d81fdb8d601cc6c4516">small_gicp::RegistrationPCL::clearSource</a></div><div class="ttdeci">void clearSource()</div><div class="ttdoc">Clear source point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:121</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_a96a08ffff99e930aa22413088203f62a"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#a96a08ffff99e930aa22413088203f62a">small_gicp::RegistrationPCL::Ptr</a></div><div class="ttdeci">pcl::shared_ptr< RegistrationPCL< PointSource, PointTarget > > Ptr</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:28</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_aa075e99890839ea63f0d85280da4831d"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#aa075e99890839ea63f0d85280da4831d">small_gicp::RegistrationPCL::num_threads_</a></div><div class="ttdeci">int num_threads_</div><div class="ttdoc">Number of threads to use.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:95</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_aa72b5d13ba4e6a5fdbf8785c897c4030"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#aa72b5d13ba4e6a5fdbf8785c897c4030">small_gicp::RegistrationPCL::source_voxelmap_</a></div><div class="ttdeci">std::shared_ptr< GaussianVoxelMap > source_voxelmap_</div><div class="ttdoc">VoxelMap for source point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:106</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_aabbdd20c1c8474743add12e4a92ba5ea"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#aabbdd20c1c8474743add12e4a92ba5ea">small_gicp::RegistrationPCL::clearTarget</a></div><div class="ttdeci">void clearTarget()</div><div class="ttdoc">Clear target point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:129</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ab035e4fc50e12f6c6fa1fa84a23fc65e"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ab035e4fc50e12f6c6fa1fa84a23fc65e">small_gicp::RegistrationPCL::result_</a></div><div class="ttdeci">RegistrationResult result_</div><div class="ttdoc">Registration result.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:111</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ab258bc745d531be46622d1ed25d90eb1"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ab258bc745d531be46622d1ed25d90eb1">small_gicp::RegistrationPCL::setTargetCovariances</a></div><div class="ttdeci">void setTargetCovariances(const std::vector< Eigen::Matrix4d > &covs)</div><div class="ttdoc">Set target point covariances.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:80</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ab5b16b623e799ee3f420a7eaffe61025"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ab5b16b623e799ee3f420a7eaffe61025">small_gicp::RegistrationPCL::PointCloudTargetConstPtr</a></div><div class="ttdeci">typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:26</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ab8b0342d31995209074d27704e98f481"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ab8b0342d31995209074d27704e98f481">small_gicp::RegistrationPCL::Scalar</a></div><div class="ttdeci">float Scalar</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:17</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ab8f49356f8cf5017cf46c94de550a373"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ab8f49356f8cf5017cf46c94de550a373">small_gicp::RegistrationPCL::k_correspondences_</a></div><div class="ttdeci">int k_correspondences_</div><div class="ttdoc">Number of neighbors for covariance estimation.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:96</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ab9eaee6f88454882f94f4072b4abf8c0"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ab9eaee6f88454882f94f4072b4abf8c0">small_gicp::RegistrationPCL::PointCloudSourcePtr</a></div><div class="ttdeci">typename PointCloudSource::Ptr PointCloudSourcePtr</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:21</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_accee541f382908b8ec9c5dcd1048e260"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#accee541f382908b8ec9c5dcd1048e260">small_gicp::RegistrationPCL::swapSourceAndTarget</a></div><div class="ttdeci">void swapSourceAndTarget()</div><div class="ttdoc">Swap source and target point clouds and their augmented data (KdTrees, covariances,...</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:113</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ad207008e1f5995733e48178d3957f5db"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ad207008e1f5995733e48178d3957f5db">small_gicp::RegistrationPCL::setRegistrationType</a></div><div class="ttdeci">void setRegistrationType(const std::string &type)</div><div class="ttdoc">Set registration type ("GICP" or "VGICP").</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:176</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_ad991749a9378287fb9b6fe58544fa8dd"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#ad991749a9378287fb9b6fe58544fa8dd">small_gicp::RegistrationPCL::voxel_resolution_</a></div><div class="ttdeci">double voxel_resolution_</div><div class="ttdoc">Voxel resolution for VGICP.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:98</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_add6f5061c8736f64859d4bf72566f428"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#add6f5061c8736f64859d4bf72566f428">small_gicp::RegistrationPCL::source_covs_</a></div><div class="ttdeci">std::vector< Eigen::Matrix4d > source_covs_</div><div class="ttdoc">Covariances of source points.</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:109</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_aedb156cea84c34b9dfcf6cf25e0331f3"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#aedb156cea84c34b9dfcf6cf25e0331f3">small_gicp::RegistrationPCL::setRotationEpsilon</a></div><div class="ttdeci">void setRotationEpsilon(double eps)</div><div class="ttdoc">Set rotation epsilon for convergence check.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:171</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_af47475b060e965767fbff95e3f5efa42"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#af47475b060e965767fbff95e3f5efa42">small_gicp::RegistrationPCL::setInputSource</a></div><div class="ttdeci">void setInputSource(const PointCloudSourceConstPtr &cloud) override</div><div class="ttdoc">Set the input source (aligned) point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:41</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_af5958d50a3fbf00fc293e7f4a1f67ba0"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#af5958d50a3fbf00fc293e7f4a1f67ba0">small_gicp::RegistrationPCL::setNumNeighborsForCovariance</a></div><div class="ttdeci">void setNumNeighborsForCovariance(int k)</div><div class="ttdoc">Set the number of neighbors for covariance estimation.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:152</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_afae9c537bc75095ecd366ddf7eed988d"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#afae9c537bc75095ecd366ddf7eed988d">small_gicp::RegistrationPCL::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudTargetConstPtr &cloud) override</div><div class="ttdoc">Set the input target (fixed) point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_registration_impl.hpp:53</div></div>
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<div class="ttc" id="aclasssmall__gicp_1_1RegistrationPCL_html_afb3508703b3dbb8cdaa6d7c503eb148d"><div class="ttname"><a href="classsmall__gicp_1_1RegistrationPCL.html#afb3508703b3dbb8cdaa6d7c503eb148d">small_gicp::RegistrationPCL::PointCloudTarget</a></div><div class="ttdeci">typename pcl::Registration< PointSource, PointTarget, Scalar >::PointCloudTarget PointCloudTarget</div><div class="ttdef"><b>Definition:</b> pcl_registration.hpp:24</div></div>
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<div class="ttc" id="agaussian__voxelmap_8hpp_html"><div class="ttname"><a href="gaussian__voxelmap_8hpp.html">gaussian_voxelmap.hpp</a></div></div>
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<div class="ttc" id="akdtree__omp_8hpp_html"><div class="ttname"><a href="kdtree__omp_8hpp.html">kdtree_omp.hpp</a></div></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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<div class="ttc" id="apcl__registration__impl_8hpp_html"><div class="ttname"><a href="pcl__registration__impl_8hpp.html">pcl_registration_impl.hpp</a></div></div>
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<div class="ttc" id="aregistration__result_8hpp_html"><div class="ttname"><a href="registration__result_8hpp.html">registration_result.hpp</a></div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html">small_gicp::RegistrationResult</a></div><div class="ttdoc">Registration result.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:11</div></div>
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