Point Cloud Library (PCL) 1.15.0
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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
42namespace 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
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.