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>
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.