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

#include <pcl/common/poses_from_matches.h>

Collaboration diagram for pcl::PosesFromMatches:

Classes
struct	Parameters
	Parameters used in this class. More...

struct	PoseEstimate
	A result of the pose estimation process. More...

Public Types
using	PoseEstimatesVector = std::vector< PoseEstimate, Eigen::aligned_allocator< PoseEstimate > >

Public Member Functions
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...

Parameters &	getParameters ()
	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 52 of file poses_from_matches.h.

Member Typedef Documentation

◆ PoseEstimatesVector

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

Definition at line 78 of file poses_from_matches.h.

Member Function Documentation

◆ estimatePosesUsing1Correspondence()

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.

◆ estimatePosesUsing2Correspondences()

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.

◆ estimatePosesUsing3Correspondences()

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.

◆ getParameters()

Parameters& pcl::PosesFromMatches::getParameters ( )

inline

Get a reference to the parameters struct.

Definition at line 110 of file poses_from_matches.h.

Member Data Documentation

◆ parameters_

Parameters pcl::PosesFromMatches::parameters_

protected

Definition at line 114 of file poses_from_matches.h.

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

pcl/common/poses_from_matches.h

Classes

Public Types

Public Member Functions

Protected Attributes