Point Cloud Library (PCL)  1.11.0
transformation_from_correspondences.h
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36 
37 #pragma once
38 
39 #include <pcl/common/eigen.h>
40 
41 namespace pcl
42 {
43  /**
44  * \brief Calculates a transformation based on corresponding 3D points
45  * \author Bastian Steder
46  * \ingroup common
47  */
49  {
50  public:
51  //-----CONSTRUCTOR&DESTRUCTOR-----
52  /** Constructor - dimension gives the size of the vectors to work with. */
54  { reset (); }
55 
56  //-----METHODS-----
57  /** Reset the object to work with a new data set */
58  inline void
59  reset ();
60 
61  /** Get the summed up weight of all added vectors */
62  inline float
64 
65  /** Get the number of added vectors */
66  inline unsigned int
67  getNoOfSamples () const { return no_of_samples_;}
68 
69  /** Add a new sample */
70  inline void
71  add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
72 
73  /** Calculate the transformation that will best transform the points into their correspondences */
74  inline Eigen::Affine3f
76 
77  //-----VARIABLES-----
78 
79  protected:
80  //-----METHODS-----
81  //-----VARIABLES-----
82  unsigned int no_of_samples_ = 0;
84  Eigen::Vector3f mean1_ = Eigen::Vector3f::Identity ();
85  Eigen::Vector3f mean2_ = Eigen::Vector3f::Identity ();
86  Eigen::Matrix<float, 3, 3> covariance_ = Eigen::Matrix<float, 3, 3>::Identity ();
87  };
88 
89 } // END namespace
90 
91 #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.