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transformation_from_correspondences.h
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
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#pragma once
#include <Eigen/Core> // for Vector3f, Matrix
#include <Eigen/Geometry> // for Affine3f
namespace pcl
{
/**
* \brief Calculates a transformation based on corresponding 3D points
* \author Bastian Steder
* \ingroup common
*/
class TransformationFromCorrespondences
{
public:
//-----CONSTRUCTOR&DESTRUCTOR-----
/** Constructor - dimension gives the size of the vectors to work with. */
TransformationFromCorrespondences ()
{ reset (); }
//-----METHODS-----
/** Reset the object to work with a new data set */
inline void
reset ();
/** Get the summed up weight of all added vectors */
inline float
getAccumulatedWeight () const { return accumulated_weight_;}
/** Get the number of added vectors */
inline unsigned int
getNoOfSamples () const { return no_of_samples_;}
/** Add a new sample */
inline void
add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
/** Calculate the transformation that will best transform the points into their correspondences */
inline Eigen::Affine3f
getTransformation ();
//-----VARIABLES-----
protected:
//-----METHODS-----
//-----VARIABLES-----
unsigned int no_of_samples_ = 0;
float accumulated_weight_ = 0;
Eigen::Vector3f mean1_ = Eigen::Vector3f::Identity ();
Eigen::Vector3f mean2_ = Eigen::Vector3f::Identity ();
Eigen::Matrix<float, 3, 3> covariance_ = Eigen::Matrix<float, 3, 3>::Identity ();
};
} // END namespace
#include <pcl/common/impl/transformation_from_correspondences.hpp>
pcl::TransformationFromCorrespondences
Calculates a transformation based on corresponding 3D points.
Definition transformation_from_correspondences.h:50
pcl::TransformationFromCorrespondences::getTransformation
Eigen::Affine3f getTransformation()
Calculate the transformation that will best transform the points into their correspondences.
Definition transformation_from_correspondences.hpp:77
pcl::TransformationFromCorrespondences::no_of_samples_
unsigned int no_of_samples_
Definition transformation_from_correspondences.h:83
pcl::TransformationFromCorrespondences::getNoOfSamples
unsigned int getNoOfSamples() const
Get the number of added vectors.
Definition transformation_from_correspondences.h:68
pcl::TransformationFromCorrespondences::add
void add(const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0)
Add a new sample.
Definition transformation_from_correspondences.hpp:58
pcl::TransformationFromCorrespondences::mean1_
Eigen::Vector3f mean1_
Definition transformation_from_correspondences.h:85
pcl::TransformationFromCorrespondences::covariance_
Eigen::Matrix< float, 3, 3 > covariance_
Definition transformation_from_correspondences.h:87
pcl::TransformationFromCorrespondences::reset
void reset()
Reset the object to work with a new data set.
Definition transformation_from_correspondences.hpp:47
pcl::TransformationFromCorrespondences::TransformationFromCorrespondences
TransformationFromCorrespondences()
Constructor - dimension gives the size of the vectors to work with.
Definition transformation_from_correspondences.h:54
pcl::TransformationFromCorrespondences::mean2_
Eigen::Vector3f mean2_
Definition transformation_from_correspondences.h:86
pcl::TransformationFromCorrespondences::accumulated_weight_
float accumulated_weight_
Definition transformation_from_correspondences.h:84
pcl::TransformationFromCorrespondences::getAccumulatedWeight
float getAccumulatedWeight() const
Get the summed up weight of all added vectors.
Definition transformation_from_correspondences.h:64
pcl
Definition convolution.h:46