pcl::PosesFromMatches Class Reference

calculate 3D transformation based on point correspondencdes More...

#include <poses_from_matches.h>

List of all members.

Classes
struct	Parameters
	Parameters used in this class. More...
struct	PoseEstimate
	A result of the pose estimation process. More...
Public Types
typedef std::vector < PoseEstimate, Eigen::aligned_allocator < PoseEstimate > >	PoseEstimatesVector
Public Member Functions
void	estimatePosesUsing1Correspondence (const PointCorrespondences6DVector &correspondences, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
void	estimatePosesUsing2Correspondences (const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
void	estimatePosesUsing3Correspondences (const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const
Parameters &	getParameters ()
	Get a reference to the parameters struct.
	PosesFromMatches ()
	Constructor.
	~PosesFromMatches ()
	Destructor.
Protected Attributes
Parameters	parameters_

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Detailed Description

calculate 3D transformation based on point correspondencdes

Author:

Bastian Steder

Definition at line 51 of file poses_from_matches.h.

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Member Typedef Documentation

typedef std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> > pcl::PosesFromMatches::PoseEstimatesVector

Definition at line 90 of file poses_from_matches.h.

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Constructor & Destructor Documentation

pcl::PosesFromMatches::PosesFromMatches

(

)

Constructor.

Definition at line 45 of file poses_from_matches.cpp.

pcl::PosesFromMatches::~PosesFromMatches

(

)

Destructor.

Definition at line 50 of file poses_from_matches.cpp.

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Member Function Documentation

void pcl::PosesFromMatches::estimatePosesUsing1Correspondence	(	const PointCorrespondences6DVector &	correspondences,
		int	max_no_of_results,
		PoseEstimatesVector &	pose_estimates
	)		const

Use single 6DOF correspondences to estimate transformations between the coordinate systems. Use max_no_of_results=-1 to use all. It is assumed, that the correspondences are sorted from good to bad.

Definition at line 56 of file poses_from_matches.cpp.

void pcl::PosesFromMatches::estimatePosesUsing2Correspondences	(	const PointCorrespondences6DVector &	correspondences,
		int	max_no_of_tested_combinations,
		int	max_no_of_results,
		PoseEstimatesVector &	pose_estimates
	)		const

Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems. It is assumed, that the correspondences are sorted from good to bad.

Definition at line 79 of file poses_from_matches.cpp.

void pcl::PosesFromMatches::estimatePosesUsing3Correspondences	(	const PointCorrespondences6DVector &	correspondences,
		int	max_no_of_tested_combinations,
		int	max_no_of_results,
		PosesFromMatches::PoseEstimatesVector &	pose_estimates
	)		const

Use triples of 6DOF correspondences to estimate transformations between the coordinate systems. It is assumed, that the correspondences are sorted from good to bad.

Definition at line 193 of file poses_from_matches.cpp.

Parameters& pcl::PosesFromMatches::getParameters

(

)

[inline]

Get a reference to the parameters struct.

Definition at line 122 of file poses_from_matches.h.

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Member Data Documentation

Parameters pcl::PosesFromMatches::parameters_ [protected]

Definition at line 126 of file poses_from_matches.h.

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The documentation for this class was generated from the following files:

• poses_from_matches.h
• poses_from_matches.cpp