Point Cloud Library (PCL)  1.7.1
transformation_from_correspondences.h
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36 
37 #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
38 #define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
39 
40 #include <pcl/common/eigen.h>
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. */
56  mean1_ (Eigen::Vector3f::Identity ()),
57  mean2_ (Eigen::Vector3f::Identity ()),
58  covariance_ (Eigen::Matrix<float, 3, 3>::Identity ())
59  { reset (); }
60 
61  /** Destructor */
63 
64  //-----METHODS-----
65  /** Reset the object to work with a new data set */
66  inline void
67  reset ();
68 
69  /** Get the summed up weight of all added vectors */
70  inline float
72 
73  /** Get the number of added vectors */
74  inline unsigned int
76 
77  /** Add a new sample */
78  inline void
79  add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
80 
81  /** Calculate the transformation that will best transform the points into their correspondences */
82  inline Eigen::Affine3f
84 
85  //-----VARIABLES-----
86 
87  protected:
88  //-----METHODS-----
89  //-----VARIABLES-----
90  unsigned int no_of_samples_;
92  Eigen::Vector3f mean1_, mean2_;
93  Eigen::Matrix<float, 3, 3> covariance_;
94  };
95 
96 } // END namespace
97 
98 #include <pcl/common/impl/transformation_from_correspondences.hpp>
99 
100 #endif // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
101 
TransformationFromCorrespondences()
Constructor - dimension gives the size of the vectors to work with.
void reset()
Reset the object to work with a new data set.
unsigned int getNoOfSamples()
Get the number of added vectors.
Definition: bfgs.h:10
void add(const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0)
Add a new sample.
Calculates a transformation based on corresponding 3D points.
Eigen::Affine3f getTransformation()
Calculate the transformation that will best transform the points into their correspondences.
float getAccumulatedWeight() const
Get the summed up weight of all added vectors.