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

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_

Detailed Description

Calculates a transformation based on corresponding 3D points.

Constructor & Destructor Documentation

pcl::TransformationFromCorrespondences::TransformationFromCorrespondences ( ) [inline]

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

pcl::TransformationFromCorrespondences::~TransformationFromCorrespondences ( ) [inline]

Destructor

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

Add a new sample

float pcl::TransformationFromCorrespondences::getAccumulatedWeight ( ) const [inline]

Get the summed up weight of all added vectors

unsigned int pcl::TransformationFromCorrespondences::getNoOfSamples ( ) [inline]

Get the number of added vectors

Eigen::Affine3f pcl::TransformationFromCorrespondences::getTransformation ( ) [inline]

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

void pcl::TransformationFromCorrespondences::reset ( ) [inline]

Reset the object to work with a new data set

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