Public Member Functions | Protected Attributes

pcl::TransformationFromCorrespondences Class Reference
[Module common]

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 47 of file transformation_from_correspondences.h.


Constructor & Destructor Documentation

pcl::TransformationFromCorrespondences::TransformationFromCorrespondences (  ) 

Constructor - dimension gives the size of the vectors to work with.

Definition at line 43 of file transformation_from_correspondences.hpp.

pcl::TransformationFromCorrespondences::~TransformationFromCorrespondences (  ) 

Destructor.

Definition at line 48 of file transformation_from_correspondences.hpp.


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 63 of file transformation_from_correspondences.hpp.

float pcl::TransformationFromCorrespondences::getAccumulatedWeight (  )  const [inline]

Get the summed up weight of all added vectors.

Definition at line 64 of file transformation_from_correspondences.h.

unsigned int pcl::TransformationFromCorrespondences::getNoOfSamples (  )  [inline]

Get the number of added vectors.

Definition at line 68 of file transformation_from_correspondences.h.

Eigen::Affine3f pcl::TransformationFromCorrespondences::getTransformation (  )  [inline]

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

Definition at line 81 of file transformation_from_correspondences.hpp.

void pcl::TransformationFromCorrespondences::reset (  )  [inline]

Reset the object to work with a new data set.

Definition at line 53 of file transformation_from_correspondences.hpp.


Member Data Documentation

Definition at line 84 of file transformation_from_correspondences.h.

Eigen::Matrix<float, 3, 3> pcl::TransformationFromCorrespondences::covariance_ [protected]

Definition at line 86 of file transformation_from_correspondences.h.

Definition at line 85 of file transformation_from_correspondences.h.

Definition at line 85 of file transformation_from_correspondences.h.

Definition at line 83 of file transformation_from_correspondences.h.


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