Calculates a transformation based on corresponding 3D points. More...
#include <rotation_from_correspondences.h>
Public Member Functions | |
void | add (const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, const Eigen::Vector3f &n1, const Eigen::Vector3f &n2, const Eigen::Vector3f &cn1, const Eigen::Vector3f &cn2, float weight=1.0, float weight2=1.0) |
float | getAccumulatedWeight () const |
unsigned int | getNoOfSamples () |
Eigen::Matrix3f | getTransformation () |
void | reset () |
RotationFromCorrespondences () | |
~RotationFromCorrespondences () | |
Public Attributes | |
float | accumulated_weight2_ |
float | accumulated_weight_ |
Eigen::Matrix< float, 3, 3 > | covariance_ |
unsigned int | no_of_samples_ |
Eigen::Vector3f | vA_ |
Eigen::Vector3f | va_ |
Eigen::Matrix< float, 3, 3 > | var_ |
Eigen::Vector3f | vB_ |
Eigen::Vector3f | vb_ |
Calculates a transformation based on corresponding 3D points.
Definition at line 78 of file rotation_from_correspondences.h.
Constructor - dimension gives the size of the vectors to work with.
Definition at line 72 of file rotation_from_correspondences.hpp.
Destructor
Definition at line 77 of file rotation_from_correspondences.hpp.
void pcl::RotationFromCorrespondences::add | ( | const Eigen::Vector3f & | point, |
const Eigen::Vector3f & | corresponding_point, | ||
const Eigen::Vector3f & | n1, | ||
const Eigen::Vector3f & | n2, | ||
const Eigen::Vector3f & | cn1, | ||
const Eigen::Vector3f & | cn2, | ||
float | weight = 1.0 , |
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float | weight2 = 1.0 |
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) | [inline] |
Add a new sample
Definition at line 125 of file rotation_from_correspondences.hpp.
float pcl::RotationFromCorrespondences::getAccumulatedWeight | ( | ) | const [inline] |
Get the summed up weight of all added vectors
Definition at line 95 of file rotation_from_correspondences.h.
unsigned int pcl::RotationFromCorrespondences::getNoOfSamples | ( | ) | [inline] |
Get the number of added vectors
Definition at line 99 of file rotation_from_correspondences.h.
Eigen::Matrix3f pcl::RotationFromCorrespondences::getTransformation | ( | ) | [inline] |
Calculate the transformation that will best transform the points into their correspondences
Definition at line 186 of file rotation_from_correspondences.hpp.
void pcl::RotationFromCorrespondences::reset | ( | ) | [inline] |
Reset the object to work with a new data set
Definition at line 82 of file rotation_from_correspondences.hpp.
Definition at line 118 of file rotation_from_correspondences.h.
Definition at line 118 of file rotation_from_correspondences.h.
Eigen::Matrix<float, 3, 3> pcl::RotationFromCorrespondences::covariance_ |
Definition at line 119 of file rotation_from_correspondences.h.
unsigned int pcl::RotationFromCorrespondences::no_of_samples_ |
Definition at line 117 of file rotation_from_correspondences.h.
Eigen::Vector3f pcl::RotationFromCorrespondences::vA_ |
Definition at line 122 of file rotation_from_correspondences.h.
Eigen::Vector3f pcl::RotationFromCorrespondences::va_ |
Definition at line 122 of file rotation_from_correspondences.h.
Eigen::Matrix<float, 3, 3> pcl::RotationFromCorrespondences::var_ |
Definition at line 120 of file rotation_from_correspondences.h.
Eigen::Vector3f pcl::RotationFromCorrespondences::vB_ |
Definition at line 122 of file rotation_from_correspondences.h.
Eigen::Vector3f pcl::RotationFromCorrespondences::vb_ |
Definition at line 122 of file rotation_from_correspondences.h.