transformation_estimation_svd_scale.h

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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_

#include <pcl/registration/transformation_estimation_svd.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget, typename Scalar = float>
    class TransformationEstimationSVDScale : public TransformationEstimationSVD<PointSource, PointTarget, Scalar>
    {
      public:
        typedef boost::shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > Ptr;
        typedef boost::shared_ptr<const TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > ConstPtr;

        typedef typename TransformationEstimationSVD<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;

        TransformationEstimationSVDScale ():
          TransformationEstimationSVD<PointSource, PointTarget, Scalar> (false)
      {}

      protected:
        void
        getTransformationFromCorrelation (const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
                                          const Eigen::Matrix<Scalar, 4, 1> &centroid_src,
                                          const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
                                          const Eigen::Matrix<Scalar, 4, 1> &centroid_tgt,
                                          Matrix4 &transformation_matrix) const;
    };

  }
}

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

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ */