40 #include <pcl/common/eigen.h>
41 #include <pcl/common/transformation_from_correspondences.h>
69 Eigen::Vector3f diff1 = point -
mean1_, diff2 = corresponding_point -
mean2_;
77 inline Eigen::Affine3f
81 Eigen::JacobiSVD<Eigen::Matrix<float, 3, 3> > svd (
covariance_, Eigen::ComputeFullU | Eigen::ComputeFullV);
82 const Eigen::Matrix<float, 3, 3>& u = svd.matrixU(),
84 Eigen::Matrix<float, 3, 3> s;
86 if (u.determinant()*v.determinant() < 0.0f)
89 Eigen::Matrix<float, 3, 3> r = u * s * v.transpose();
93 ret(0,0)=r(0,0); ret(0,1)=r(0,1); ret(0,2)=r(0,2); ret(0,3)=t(0);
94 ret(1,0)=r(1,0); ret(1,1)=r(1,1); ret(1,2)=r(1,2); ret(1,3)=t(1);
95 ret(2,0)=r(2,0); ret(2,1)=r(2,1); ret(2,2)=r(2,2); ret(2,3)=t(2);
96 ret(3,0)=0.0f; ret(3,1)=0.0f; ret(3,2)=0.0f; ret(3,3)=1.0f;