142 Eigen::Matrix<Scalar, 4, 4>
C1 = Eigen::Matrix<Scalar, 4, 4>::Zero();
143 Eigen::Matrix<Scalar, 4, 4>
C2 = Eigen::Matrix<Scalar, 4, 4>::Zero();
144 Scalar* c1 =
C1.data();
145 Scalar* c2 =
C2.data();
147 for (
int i = 0; i <
npts; i++) {
150 const Scalar
axbx = a.x * b.x;
151 const Scalar
ayby = a.y * b.y;
152 const Scalar
azbz = a.z * b.z;
153 const Scalar
axby = a.x * b.y;
154 const Scalar
aybx = a.y * b.x;
155 const Scalar
axbz = a.x * b.z;
156 const Scalar
azbx = a.z * b.x;
157 const Scalar
aybz = a.y * b.z;
158 const Scalar
azby = a.z * b.y;
196 const Eigen::Matrix<Scalar, 4, 4>
A =
199 const Eigen::EigenSolver<Eigen::Matrix<Scalar, 4, 4>>
es(
A);
202 es.eigenvalues().real().maxCoeff(&i);
203 const Eigen::Matrix<Scalar, 4, 1>
qmat =
es.eigenvectors().col(i).real();
209 const Eigen::Quaternion<Scalar>
t = s *
q.conjugate();
211 const Eigen::Matrix<Scalar, 3, 3>
R(
q.toRotationMatrix());
213 for (
int i = 0; i < 3; ++i)
214 for (
int j = 0; j < 3; ++j)
#define PCL_DEPRECATED_HEADER(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated headers for the Major....