Calculates a transformation based on corresponding 3D points. More...
#include <pcl/common/transformation_from_correspondences.h>
Public Member Functions | |
| TransformationFromCorrespondences () | |
| Constructor - dimension gives the size of the vectors to work with. | |
| ~TransformationFromCorrespondences () | |
| Destructor. | |
| void | reset () |
| Reset the object to work with a new data set. | |
| float | getAccumulatedWeight () const |
| Get the summed up weight of all added vectors. | |
| unsigned int | getNoOfSamples () |
| Get the number of added vectors. | |
| void | add (const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0) |
| Add a new sample. | |
| Eigen::Affine3f | getTransformation () |
| Calculate the transformation that will best transform the points into their correspondences. | |
Protected Attributes | |
| unsigned int | no_of_samples_ |
| float | accumulated_weight_ |
| Eigen::Vector3f | mean1_ |
| Eigen::Vector3f | mean2_ |
| Eigen::Matrix< float, 3, 3 > | covariance_ |
Calculates a transformation based on corresponding 3D points.
Definition at line 49 of file transformation_from_correspondences.h.
| pcl::TransformationFromCorrespondences::TransformationFromCorrespondences | ( | ) | [inline] |
Constructor - dimension gives the size of the vectors to work with.
Definition at line 54 of file transformation_from_correspondences.h.
References reset().
| pcl::TransformationFromCorrespondences::~TransformationFromCorrespondences | ( | ) | [inline] |
Destructor.
Definition at line 62 of file transformation_from_correspondences.h.
| void pcl::TransformationFromCorrespondences::add | ( | const Eigen::Vector3f & | point, | |
| const Eigen::Vector3f & | corresponding_point, | |||
| float | weight = 1.0 | |||
| ) | [inline] |
Add a new sample.
Definition at line 53 of file transformation_from_correspondences.hpp.
References accumulated_weight_, covariance_, mean1_, mean2_, and no_of_samples_.
| float pcl::TransformationFromCorrespondences::getAccumulatedWeight | ( | ) | const [inline] |
Get the summed up weight of all added vectors.
Definition at line 71 of file transformation_from_correspondences.h.
References accumulated_weight_.
| unsigned int pcl::TransformationFromCorrespondences::getNoOfSamples | ( | ) | [inline] |
Get the number of added vectors.
Definition at line 75 of file transformation_from_correspondences.h.
References no_of_samples_.
| Eigen::Affine3f pcl::TransformationFromCorrespondences::getTransformation | ( | ) | [inline] |
Calculate the transformation that will best transform the points into their correspondences.
Definition at line 72 of file transformation_from_correspondences.hpp.
References covariance_, mean1_, and mean2_.
| void pcl::TransformationFromCorrespondences::reset | ( | ) | [inline] |
Reset the object to work with a new data set.
Definition at line 42 of file transformation_from_correspondences.hpp.
References accumulated_weight_, covariance_, mean1_, mean2_, and no_of_samples_.
Referenced by TransformationFromCorrespondences().
float pcl::TransformationFromCorrespondences::accumulated_weight_ [protected] |
Definition at line 91 of file transformation_from_correspondences.h.
Referenced by add(), getAccumulatedWeight(), and reset().
Eigen::Matrix<float, 3, 3> pcl::TransformationFromCorrespondences::covariance_ [protected] |
Definition at line 93 of file transformation_from_correspondences.h.
Referenced by add(), getTransformation(), and reset().
Eigen::Vector3f pcl::TransformationFromCorrespondences::mean1_ [protected] |
Definition at line 92 of file transformation_from_correspondences.h.
Referenced by add(), getTransformation(), and reset().
Eigen::Vector3f pcl::TransformationFromCorrespondences::mean2_ [protected] |
Definition at line 92 of file transformation_from_correspondences.h.
Referenced by add(), getTransformation(), and reset().
unsigned int pcl::TransformationFromCorrespondences::no_of_samples_ [protected] |
Definition at line 90 of file transformation_from_correspondences.h.
Referenced by add(), getNoOfSamples(), and reset().
