Point Cloud Library (PCL): pcl::TransformationFromCorrespondences Class Reference

Point Cloud Library (PCL) 1.7.2

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.
	~TransformationFromCorrespondences ()
	Destructor.
void	reset ()
	Reset the object to work with a new data set.
float	getAccumulatedWeight () const
	Get the summed up weight of all added vectors.
unsigned int	getNoOfSamples ()
	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.
Eigen::Affine3f	getTransformation ()
	Calculate the transformation that will best transform the points into their correspondences.

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 49 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 54 of file transformation_from_correspondences.h.

References reset().

pcl::TransformationFromCorrespondences::~TransformationFromCorrespondences ( )

inline

Destructor.

Definition at line 62 of file transformation_from_correspondences.h.

Member Function Documentation

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 53 of file transformation_from_correspondences.hpp.

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

float pcl::TransformationFromCorrespondences::getAccumulatedWeight ( ) const

inline

Get the summed up weight of all added vectors.

Definition at line 71 of file transformation_from_correspondences.h.

References accumulated_weight_.

unsigned int pcl::TransformationFromCorrespondences::getNoOfSamples ( )

inline

Get the number of added vectors.

Definition at line 75 of file transformation_from_correspondences.h.

References 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.

Referenced by 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().

Member Data Documentation

float pcl::TransformationFromCorrespondences::accumulated_weight_

protected

Definition at line 91 of file transformation_from_correspondences.h.

Referenced by getAccumulatedWeight(), and reset().

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

protected

Definition at line 93 of file transformation_from_correspondences.h.

Referenced by reset().

Eigen::Vector3f pcl::TransformationFromCorrespondences::mean1_

protected

Definition at line 92 of file transformation_from_correspondences.h.

Referenced by reset().

Eigen::Vector3f pcl::TransformationFromCorrespondences::mean2_

protected

Definition at line 92 of file transformation_from_correspondences.h.

Referenced by reset().

unsigned int pcl::TransformationFromCorrespondences::no_of_samples_

protected

Definition at line 90 of file transformation_from_correspondences.h.

Referenced by getNoOfSamples(), and reset().

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

/tmp/buildd/pcl-1.7.2/common/include/pcl/common/transformation_from_correspondences.h
/tmp/buildd/pcl-1.7.2/common/include/pcl/common/impl/transformation_from_correspondences.hpp