Point Cloud Library (PCL)  1.7.0
Public Member Functions | Protected Attributes
pcl::TransformationFromCorrespondences Class Reference

Calculates a transformation based on corresponding 3D points. More...

#include <pcl/common/transformation_from_correspondences.h>

List of all members.

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_

Detailed Description

Calculates a transformation based on corresponding 3D points.

Author:
Bastian Steder

Definition at line 49 of file transformation_from_correspondences.h.


Constructor & Destructor Documentation

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.


Member Function Documentation

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.

Get the summed up weight of all added vectors.

Definition at line 71 of file transformation_from_correspondences.h.

References accumulated_weight_.

Get the number of added vectors.

Definition at line 75 of file transformation_from_correspondences.h.

References no_of_samples_.

Calculate the transformation that will best transform the points into their correspondences.

Definition at line 72 of file transformation_from_correspondences.hpp.

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().


Member Data Documentation

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().

Definition at line 92 of file transformation_from_correspondences.h.

Referenced by reset().

Definition at line 92 of file transformation_from_correspondences.h.

Referenced by reset().

Definition at line 90 of file transformation_from_correspondences.h.

Referenced by getNoOfSamples(), and reset().


The documentation for this class was generated from the following files: