Classes | Public Types | Public Member Functions | Protected Attributes

pcl::PosesFromMatches Class Reference
[Module common]

calculate 3D transformation based on point correspondencdes More...

#include <pcl/common/poses_from_matches.h>

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List of all members.

Classes

struct  Parameters
 Parameters used in this class. More...
struct  PoseEstimate
 A result of the pose estimation process. More...

Public Types

typedef std::vector
< PoseEstimate,
Eigen::aligned_allocator
< PoseEstimate > > 
PoseEstimatesVector

Public Member Functions

 PosesFromMatches ()
 Constructor.
 ~PosesFromMatches ()
 Destructor.
void estimatePosesUsing1Correspondence (const PointCorrespondences6DVector &correspondences, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
 Use single 6DOF correspondences to estimate transformations between the coordinate systems.
void estimatePosesUsing2Correspondences (const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
 Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.
void estimatePosesUsing3Correspondences (const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
 Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.
ParametersgetParameters ()
 Get a reference to the parameters struct.

Protected Attributes

Parameters parameters_

Detailed Description

calculate 3D transformation based on point correspondencdes

Author:
Bastian Steder

Definition at line 49 of file poses_from_matches.h.


Member Typedef Documentation

typedef std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> > pcl::PosesFromMatches::PoseEstimatesVector

Definition at line 80 of file poses_from_matches.h.


Constructor & Destructor Documentation

pcl::PosesFromMatches::PosesFromMatches (  ) 

Constructor.

pcl::PosesFromMatches::~PosesFromMatches (  ) 

Destructor.


Member Function Documentation

void pcl::PosesFromMatches::estimatePosesUsing1Correspondence ( const PointCorrespondences6DVector correspondences,
int  max_no_of_results,
PoseEstimatesVector pose_estimates 
) const

Use single 6DOF correspondences to estimate transformations between the coordinate systems.

Use max_no_of_results=-1 to use all. It is assumed, that the correspondences are sorted from good to bad.

void pcl::PosesFromMatches::estimatePosesUsing2Correspondences ( const PointCorrespondences6DVector correspondences,
int  max_no_of_tested_combinations,
int  max_no_of_results,
PoseEstimatesVector pose_estimates 
) const

Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.

It is assumed, that the correspondences are sorted from good to bad.

void pcl::PosesFromMatches::estimatePosesUsing3Correspondences ( const PointCorrespondences6DVector correspondences,
int  max_no_of_tested_combinations,
int  max_no_of_results,
PoseEstimatesVector pose_estimates 
) const

Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.

It is assumed, that the correspondences are sorted from good to bad.

Parameters& pcl::PosesFromMatches::getParameters (  )  [inline]

Get a reference to the parameters struct.

Definition at line 112 of file poses_from_matches.h.


Member Data Documentation

Definition at line 116 of file poses_from_matches.h.


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