Point Cloud Library (PCL)  1.7.0
transformation_from_correspondences.h
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36 
37 #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
38 #define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
39 
40 #include <pcl/common/eigen.h>
41 
42 namespace pcl
43 {
44  /**
45  * \brief Calculates a transformation based on corresponding 3D points
46  * \author Bastian Steder
47  * \ingroup common
48  */
50  {
51  public:
52  //-----CONSTRUCTOR&DESTRUCTOR-----
53  /** Constructor - dimension gives the size of the vectors to work with. */
56  mean1_ (Eigen::Vector3f::Identity ()),
57  mean2_ (Eigen::Vector3f::Identity ()),
58  covariance_ (Eigen::Matrix<float, 3, 3>::Identity ())
59  { reset (); }
60 
61  /** Destructor */
63 
64  //-----METHODS-----
65  /** Reset the object to work with a new data set */
66  inline void
67  reset ();
68 
69  /** Get the summed up weight of all added vectors */
70  inline float
72 
73  /** Get the number of added vectors */
74  inline unsigned int
76 
77  /** Add a new sample */
78  inline void
79  add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
80 
81  /** Calculate the transformation that will best transform the points into their correspondences */
82  inline Eigen::Affine3f
84 
85  //-----VARIABLES-----
86 
87  protected:
88  //-----METHODS-----
89  //-----VARIABLES-----
90  unsigned int no_of_samples_;
92  Eigen::Vector3f mean1_, mean2_;
93  Eigen::Matrix<float, 3, 3> covariance_;
94  };
95 
96 } // END namespace
97 
98 #include <pcl/common/impl/transformation_from_correspondences.hpp>
99 
100 #endif // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
101 
TransformationFromCorrespondences()
Constructor - dimension gives the size of the vectors to work with.
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.
void reset()
Reset the object to work with a new data set.
Eigen::Affine3f getTransformation()
Calculate the transformation that will best transform the points into their correspondences.
Calculates a transformation based on corresponding 3D points.