37 #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
38 #define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
40 #include <pcl/common/eigen.h>
56 mean1_ (Eigen::Vector3f::Identity ()),
57 mean2_ (Eigen::Vector3f::Identity ()),
58 covariance_ (Eigen::Matrix<float, 3, 3>::Identity ())
79 add (
const Eigen::Vector3f& point,
const Eigen::Vector3f& corresponding_point,
float weight=1.0);
82 inline Eigen::Affine3f
98 #include <pcl/common/impl/transformation_from_correspondences.hpp>
100 #endif // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
TransformationFromCorrespondences()
Constructor - dimension gives the size of the vectors to work with.
void reset()
Reset the object to work with a new data set.
float accumulated_weight_
float getAccumulatedWeight() const
Get the summed up weight of all added vectors.
~TransformationFromCorrespondences()
Destructor.
Calculates a transformation based on corresponding 3D points.
Eigen::Affine3f getTransformation()
Calculate the transformation that will best transform the points into their correspondences.
void add(const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0)
Add a new sample.
unsigned int no_of_samples_
unsigned int getNoOfSamples()
Get the number of added vectors.
Eigen::Matrix< float, 3, 3 > covariance_