transformation_estimation_svd.h

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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_

#include <pcl/registration/transformation_estimation.h>
#include <pcl/cloud_iterator.h>

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

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

        TransformationEstimationSVD (bool use_umeyama=true):
          use_umeyama_ (use_umeyama)
        {}

        virtual ~TransformationEstimationSVD () {};

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Matrix4 &transformation_matrix) const;

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Matrix4 &transformation_matrix) const;

        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,
            Matrix4 &transformation_matrix) const;

        void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const pcl::Correspondences &correspondences,
            Matrix4 &transformation_matrix) const;

      protected:

        void
        estimateRigidTransformation (ConstCloudIterator<PointSource>& source_it,
                                     ConstCloudIterator<PointTarget>& target_it,
                                     Matrix4 &transformation_matrix) const;

        virtual 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;

        bool use_umeyama_;
     };

  }
}

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

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ */