EigenSVDPointAlign.hpp

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#ifndef EIGENSVDPOINTALIGN_HPP_
#define EIGENSVDPOINTALIGN_HPP_
 
#include "SLAMScanWrapper.hpp"
#include "lvr2/types/MatrixTypes.hpp"
 
#include <Eigen/Dense>
 
namespace lvr2
{
 
template<typename T, typename PointT = float>
class EigenSVDPointAlign
{
public:
    using Vec3 = Vector3<T>;
    using Mat4 = Transform<T>;
    using Mat3 = Eigen::Matrix<T, 3, 3>;
    using Point3 = Vector3<PointT>;
    using PointPairVector = std::vector<std::pair<Point3, Point3>>;
 
    EigenSVDPointAlign() {};
 
    T alignPoints(
        SLAMScanPtr scan,
        Point3** neighbors,
        const Vec3& centroid_m,
        const Vec3& centroid_d,
        Mat4& align) const;
 
    T alignPoints(
        PointPairVector& points,
        const Vec3& centroid_m,
        const Vec3& centroid_d,
        Mat4& align) const;
};
 
} /* namespace lvr2 */
 
#include "EigenSVDPointAlign.tcc"
 
#endif /* EIGENSVDPOINTALIGN_HPP_ */