Point Cloud Library (PCL)  1.14.1
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>
TransformationFromCorrespondences()
Constructor - dimension gives the size of the vectors to work with.
float getAccumulatedWeight() const
Get the summed up weight of all added vectors.
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.
Eigen::Affine3f getTransformation()
Calculate the transformation that will best transform the points into their correspondences.
Calculates a transformation based on corresponding 3D points.