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 () const
	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_ = 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.

Author

Bastian Steder

Definition at line 49 of file transformation_from_correspondences.h.

Constructor & Destructor Documentation

TransformationFromCorrespondences()

pcl::TransformationFromCorrespondences::TransformationFromCorrespondences ( )

inline

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

Definition at line 54 of file transformation_from_correspondences.h.

References reset().

Member Function Documentation

add()

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 58 of file transformation_from_correspondences.hpp.

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

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

getAccumulatedWeight()

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.

References accumulated_weight_.

getNoOfSamples()

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

inline

Get the number of added vectors.

Definition at line 68 of file transformation_from_correspondences.h.

References no_of_samples_.

getTransformation()

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

inline

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

Definition at line 77 of file transformation_from_correspondences.hpp.

References covariance_, mean1_, and mean2_.

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

reset()

void pcl::TransformationFromCorrespondences::reset ( )

inline

Reset the object to work with a new data set.

Definition at line 47 of file transformation_from_correspondences.hpp.

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

Referenced by TransformationFromCorrespondences().

Member Data Documentation

accumulated_weight_

float pcl::TransformationFromCorrespondences::accumulated_weight_ = 0

protected

Definition at line 84 of file transformation_from_correspondences.h.

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

covariance_

Eigen::Matrix<float, 3, 3> pcl::TransformationFromCorrespondences::covariance_ = Eigen::Matrix<float, 3, 3>::Identity ()

protected

Definition at line 87 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 85 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 86 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 83 of file transformation_from_correspondences.h.

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

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

• pcl/common/transformation_from_correspondences.h
• pcl/common/impl/transformation_from_correspondences.hpp