Point Cloud Library (PCL)  1.10.1-dev
pcl::TransformationFromCorrespondences Class Reference

Calculates a transformation based on corresponding 3D points. More...

`#include <pcl/common/transformation_from_correspondences.h>`

## Public Member Functions

TransformationFromCorrespondences ()
Constructor - dimension gives the size of the vectors to work with. More...

void reset ()
Reset the object to work with a new data set. More...

float getAccumulatedWeight () const
Get the summed up weight of all added vectors. More...

unsigned int getNoOfSamples ()
Get the number of added vectors. More...

void add (const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0)

Eigen::Affine3f getTransformation ()
Calculate the transformation that will best transform the points into their correspondences. More...

## Protected Attributes

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 ()

## Detailed Description

Calculates a transformation based on corresponding 3D points.

Definition at line 48 of file transformation_from_correspondences.h.

## ◆ TransformationFromCorrespondences()

 pcl::TransformationFromCorrespondences::TransformationFromCorrespondences ( )
inline

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

Definition at line 53 of file transformation_from_correspondences.h.

References reset().

## Member Function Documentation

 void pcl::TransformationFromCorrespondences::add ( const Eigen::Vector3f & point, const Eigen::Vector3f & corresponding_point, float weight = `1.0` )
inline

Definition at line 53 of file transformation_from_correspondences.hpp.

References accumulated_weight_, covariance_, mean1_, mean2_, and no_of_samples_.

## ◆ getAccumulatedWeight()

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

Get the summed up weight of all added vectors.

Definition at line 63 of file transformation_from_correspondences.h.

References accumulated_weight_.

## ◆ getNoOfSamples()

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

Get the number of added vectors.

Definition at line 67 of file transformation_from_correspondences.h.

## ◆ getTransformation()

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

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

Definition at line 72 of file transformation_from_correspondences.hpp.

References covariance_, mean1_, and mean2_.

## ◆ reset()

 void pcl::TransformationFromCorrespondences::reset ( )
inline

Reset the object to work with a new data set.

Definition at line 42 of file transformation_from_correspondences.hpp.

References accumulated_weight_, covariance_, mean1_, mean2_, and no_of_samples_.

Referenced by TransformationFromCorrespondences().

## ◆ accumulated_weight_

 float pcl::TransformationFromCorrespondences::accumulated_weight_ = 0
protected

Definition at line 83 of file transformation_from_correspondences.h.

Referenced by add(), getAccumulatedWeight(), and reset().

## ◆ covariance_

 Eigen::Matrix pcl::TransformationFromCorrespondences::covariance_ = Eigen::Matrix::Identity ()
protected

Definition at line 86 of file transformation_from_correspondences.h.

Referenced by add(), getTransformation(), and reset().

## ◆ mean1_

 Eigen::Vector3f pcl::TransformationFromCorrespondences::mean1_ = Eigen::Vector3f::Identity ()
protected

Definition at line 84 of file transformation_from_correspondences.h.

Referenced by add(), getTransformation(), and reset().

## ◆ mean2_

 Eigen::Vector3f pcl::TransformationFromCorrespondences::mean2_ = Eigen::Vector3f::Identity ()
protected

Definition at line 85 of file transformation_from_correspondences.h.

Referenced by add(), getTransformation(), and reset().

## ◆ no_of_samples_

 unsigned int pcl::TransformationFromCorrespondences::no_of_samples_ = 0
protected

Definition at line 82 of file transformation_from_correspondences.h.

Referenced by add(), getNoOfSamples(), and reset().

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