Point Cloud Library (PCL)  1.9.1-dev
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pcl::PosesFromMatches Class Reference

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

#include <pcl/common/poses_from_matches.h>

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. More...
 
 ~PosesFromMatches ()
 Destructor. More...
 
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. More...
 
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. More...
 
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. More...
 
ParametersgetParameters ()
 Get a reference to the parameters struct. More...
 

Protected Attributes

Parameters parameters_
 

Detailed Description

calculate 3D transformation based on point correspondences

Author
Bastian Steder

Definition at line 50 of file poses_from_matches.h.

Member Typedef Documentation

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

Definition at line 89 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 121 of file poses_from_matches.h.

Member Data Documentation

Parameters pcl::PosesFromMatches::parameters_
protected

Definition at line 125 of file poses_from_matches.h.


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