transformation_estimation_svd.h

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 * $Id: transformation_estimation_svd.h 3756 2011-12-31 23:54:41Z rusu $
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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_

#include <pcl/registration/transformation_estimation.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget>
    class TransformationEstimationSVD : public TransformationEstimation<PointSource, PointTarget>
    {
      public:
        TransformationEstimationSVD () {};
        virtual ~TransformationEstimationSVD () {};

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Eigen::Matrix4f &transformation_matrix);

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Eigen::Matrix4f &transformation_matrix);

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const std::vector<int> &indices_tgt,
            Eigen::Matrix4f &transformation_matrix);

        void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const pcl::Correspondences &correspondences,
            Eigen::Matrix4f &transformation_matrix);

      protected:

        void
        getTransformationFromCorrelation (const Eigen::MatrixXf &cloud_src_demean,
                                          const Eigen::Vector4f &centroid_src,
                                          const Eigen::MatrixXf &cloud_tgt_demean,
                                          const Eigen::Vector4f &centroid_tgt,
                                          Eigen::Matrix4f &transformation_matrix);
    };

  }
}

#include <pcl/registration/impl/transformation_estimation_svd.hpp>

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ */