transformation_from_correspondences.h
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00036 
00037 #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
00038 #define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
00039 
00040 #include <pcl/common/eigen.h>
00041 
00042 namespace pcl 
00043 {
00049   class TransformationFromCorrespondences 
00050   {
00051      public:
00052         //-----CONSTRUCTOR&DESTRUCTOR-----
00054         TransformationFromCorrespondences () : 
00055           no_of_samples_ (0), accumulated_weight_ (0), 
00056           mean1_ (Eigen::Vector3f::Identity ()),
00057           mean2_ (Eigen::Vector3f::Identity ()),
00058           covariance_ (Eigen::Matrix<float, 3, 3>::Identity ())
00059         { reset (); }
00060 
00062         ~TransformationFromCorrespondences () { };
00063         
00064         //-----METHODS-----
00066         inline void 
00067         reset ();
00068         
00070         inline float 
00071         getAccumulatedWeight () const { return accumulated_weight_;}
00072         
00074         inline unsigned int 
00075         getNoOfSamples () { return no_of_samples_;}
00076         
00078         inline void 
00079         add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
00080         
00082         inline Eigen::Affine3f 
00083         getTransformation ();
00084         
00085         //-----VARIABLES-----
00086         
00087      protected:
00088         //-----METHODS-----
00089         //-----VARIABLES-----
00090         unsigned int no_of_samples_;
00091         float accumulated_weight_;
00092         Eigen::Vector3f mean1_, mean2_;
00093         Eigen::Matrix<float, 3, 3> covariance_;
00094   };
00095 
00096 }  // END namespace
00097 
00098 #include <pcl/common/impl/transformation_from_correspondences.hpp>
00099 
00100 #endif  // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
00101 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:51