Point Cloud Library (PCL)
1.7.0
|
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.
Constructor - dimension gives the size of the vectors to work with.
Definition at line 54 of file transformation_from_correspondences.h.
References reset().
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.
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.
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 getAccumulatedWeight(), and reset().
Eigen::Matrix<float, 3, 3> pcl::TransformationFromCorrespondences::covariance_ [protected] |
Definition at line 93 of file transformation_from_correspondences.h.
Referenced by reset().
Eigen::Vector3f pcl::TransformationFromCorrespondences::mean1_ [protected] |
Definition at line 92 of file transformation_from_correspondences.h.
Referenced by reset().
Eigen::Vector3f pcl::TransformationFromCorrespondences::mean2_ [protected] |
Definition at line 92 of file transformation_from_correspondences.h.
Referenced by reset().
unsigned int pcl::TransformationFromCorrespondences::no_of_samples_ [protected] |
Definition at line 90 of file transformation_from_correspondences.h.
Referenced by getNoOfSamples(), and reset().