cob_3d_mapping_slam: rotation_from_correspondences.h Source File

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00001 
00059 /*
00060  * rotation_from_correspondences.h
00061  *
00062  *  Created on: 28.04.2012
00063  *      Author: josh
00064  */
00065 
00066 #ifndef ROTATION_FROM_CORRESPONDENCES_H_
00067 #define ROTATION_FROM_CORRESPONDENCES_H_
00068 
00069 #include <Eigen/Core>
00070 
00071 namespace pcl
00072 {
00078   class RotationFromCorrespondences
00079   {
00080   public:
00081     //-----CONSTRUCTOR&DESTRUCTOR-----
00083     RotationFromCorrespondences ();
00084 
00086     ~RotationFromCorrespondences ();
00087 
00088     //-----METHODS-----
00090     inline void
00091     reset ();
00092 
00094     inline float
00095     getAccumulatedWeight () const { return accumulated_weight_;}
00096 
00098     inline unsigned int
00099     getNoOfSamples () { return no_of_samples_;}
00100 
00102     inline void
00103     add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point,
00104          const Eigen::Vector3f& n1, const Eigen::Vector3f& n2,
00105          const Eigen::Vector3f& cn1, const Eigen::Vector3f& cn2,
00106          float weight=1.0,float weight2=1.0);
00107 
00109     inline Eigen::Matrix3f
00110     getTransformation ();
00111 
00112     //-----VARIABLES-----
00113 
00114   //protected:
00115     //-----METHODS-----
00116     //-----VARIABLES-----
00117     unsigned int no_of_samples_;
00118     float accumulated_weight_,accumulated_weight2_;
00119     Eigen::Matrix<float, 3, 3> covariance_;
00120     Eigen::Matrix<float, 3, 3> var_;
00121 
00122     Eigen::Vector3f va_,vb_,vA_,vB_;
00123   };
00124 
00125 }  // END namespace
00126 
00127 #include "impl/rotation_from_correspondences.hpp"
00128 
00129 #endif /* ROTATION_FROM_CORRESPONDENCES_H_ */