Point Cloud Library (PCL)  1.12.1-dev
transformation_from_correspondences.h
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36 
37 #pragma once
38 
39 #include <Eigen/Core> // for Vector3f, Matrix
40 #include <Eigen/Geometry> // for Affine3f
41 
42 namespace pcl
43 {
44  /**
45  * \brief Calculates a transformation based on corresponding 3D points
46  * \author Bastian Steder
47  * \ingroup common
48  */
50  {
51  public:
52  //-----CONSTRUCTOR&DESTRUCTOR-----
53  /** Constructor - dimension gives the size of the vectors to work with. */
55  { reset (); }
56 
57  //-----METHODS-----
58  /** Reset the object to work with a new data set */
59  inline void
60  reset ();
61 
62  /** Get the summed up weight of all added vectors */
63  inline float
65 
66  /** Get the number of added vectors */
67  inline unsigned int
68  getNoOfSamples () const { return no_of_samples_;}
69 
70  /** Add a new sample */
71  inline void
72  add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
73 
74  /** Calculate the transformation that will best transform the points into their correspondences */
75  inline Eigen::Affine3f
77 
78  //-----VARIABLES-----
79 
80  protected:
81  //-----METHODS-----
82  //-----VARIABLES-----
83  unsigned int no_of_samples_ = 0;
85  Eigen::Vector3f mean1_ = Eigen::Vector3f::Identity ();
86  Eigen::Vector3f mean2_ = Eigen::Vector3f::Identity ();
87  Eigen::Matrix<float, 3, 3> covariance_ = Eigen::Matrix<float, 3, 3>::Identity ();
88  };
89 
90 } // END namespace
91 
92 #include <pcl/common/impl/transformation_from_correspondences.hpp>
Calculates a transformation based on corresponding 3D points.
Eigen::Affine3f getTransformation()
Calculate the transformation that will best transform the points into their correspondences.
unsigned int getNoOfSamples() const
Get the number of added vectors.
void add(const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0)
Add a new sample.
void reset()
Reset the object to work with a new data set.
TransformationFromCorrespondences()
Constructor - dimension gives the size of the vectors to work with.
float getAccumulatedWeight() const
Get the summed up weight of all added vectors.