pcl::TransformationFromCorrespondences Class Reference

Calculates a transformation based on corresponding 3D points. More...

#include <transformation_from_correspondences.h>

List of all members.

Public Member Functions
void	add (const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0)
float	getAccumulatedWeight () const
unsigned int	getNoOfSamples ()
Eigen::Affine3f	getTransformation ()
void	reset ()
	TransformationFromCorrespondences ()
	~TransformationFromCorrespondences ()
Protected Attributes
float	accumulated_weight_
Eigen::Matrix< float, 3, 3 >	covariance_
Eigen::Vector3f	mean1_
Eigen::Vector3f	mean2_
unsigned int	no_of_samples_

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Detailed Description

Calculates a transformation based on corresponding 3D points.

Author:

Bastian Steder

Definition at line 49 of file transformation_from_correspondences.h.

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Constructor & Destructor Documentation

pcl::TransformationFromCorrespondences::TransformationFromCorrespondences

(

)

[inline]

Constructor - dimension gives the size of the vectors to work with.

Definition at line 54 of file transformation_from_correspondences.h.

pcl::TransformationFromCorrespondences::~TransformationFromCorrespondences

(

)

[inline]

Destructor

Definition at line 62 of file transformation_from_correspondences.h.

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Member Function Documentation

void pcl::TransformationFromCorrespondences::add	(	const Eigen::Vector3f &	point,
		const Eigen::Vector3f &	corresponding_point,
		float	weight = 1.0
	)		[inline]

Add a new sample

Definition at line 53 of file transformation_from_correspondences.hpp.

float pcl::TransformationFromCorrespondences::getAccumulatedWeight

(

)

const [inline]

Get the summed up weight of all added vectors

Definition at line 71 of file transformation_from_correspondences.h.

unsigned int pcl::TransformationFromCorrespondences::getNoOfSamples

(

)

[inline]

Get the number of added vectors

Definition at line 75 of file transformation_from_correspondences.h.

Eigen::Affine3f pcl::TransformationFromCorrespondences::getTransformation

(

)

[inline]

Calculate the transformation that will best transform the points into their correspondences

Definition at line 72 of file transformation_from_correspondences.hpp.

void pcl::TransformationFromCorrespondences::reset

(

)

[inline]

Reset the object to work with a new data set

Definition at line 42 of file transformation_from_correspondences.hpp.

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Member Data Documentation

float pcl::TransformationFromCorrespondences::accumulated_weight_ [protected]

Definition at line 91 of file transformation_from_correspondences.h.

Eigen::Matrix<float, 3, 3> pcl::TransformationFromCorrespondences::covariance_ [protected]

Definition at line 93 of file transformation_from_correspondences.h.

Eigen::Vector3f pcl::TransformationFromCorrespondences::mean1_ [protected]

Definition at line 92 of file transformation_from_correspondences.h.

Eigen::Vector3f pcl::TransformationFromCorrespondences::mean2_ [protected]

Definition at line 92 of file transformation_from_correspondences.h.

unsigned int pcl::TransformationFromCorrespondences::no_of_samples_ [protected]

Definition at line 90 of file transformation_from_correspondences.h.

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

• transformation_from_correspondences.h
• transformation_from_correspondences.hpp