Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Attributes
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...
 
 ~TransformationFromCorrespondences ()
 Destructor. 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)
 Add a new sample. More...
 
Eigen::Affine3f getTransformation ()
 Calculate the transformation that will best transform the points into their correspondences. More...
 

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 48 of file transformation_from_correspondences.h.

Constructor & Destructor Documentation

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().

pcl::TransformationFromCorrespondences::~TransformationFromCorrespondences ( )
inline

Destructor.

Definition at line 61 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
float pcl::TransformationFromCorrespondences::getAccumulatedWeight ( ) const
inline

Get the summed up weight of all added vectors.

Definition at line 70 of file transformation_from_correspondences.h.

References accumulated_weight_.

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

Get the number of added vectors.

Definition at line 74 of file transformation_from_correspondences.h.

References add(), getTransformation(), and no_of_samples_.

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_.

Referenced by getNoOfSamples(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track().

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(), and ~TransformationFromCorrespondences().

Member Data Documentation

float pcl::TransformationFromCorrespondences::accumulated_weight_
protected

Definition at line 90 of file transformation_from_correspondences.h.

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

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

Definition at line 92 of file transformation_from_correspondences.h.

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

Eigen::Vector3f pcl::TransformationFromCorrespondences::mean1_
protected

Definition at line 91 of file transformation_from_correspondences.h.

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

Eigen::Vector3f pcl::TransformationFromCorrespondences::mean2_
protected

Definition at line 91 of file transformation_from_correspondences.h.

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

unsigned int pcl::TransformationFromCorrespondences::no_of_samples_
protected

Definition at line 89 of file transformation_from_correspondences.h.

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


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