pcl::RotationFromCorrespondences Class Reference

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

#include <rotation_from_correspondences.h>

List of all members.

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_

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Detailed Description

Calculates a transformation based on corresponding 3D points.

Author:

Bastian Steder

Definition at line 78 of file rotation_from_correspondences.h.

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Constructor & Destructor Documentation

pcl::RotationFromCorrespondences::RotationFromCorrespondences

(

)

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

Definition at line 72 of file rotation_from_correspondences.hpp.

pcl::RotationFromCorrespondences::~RotationFromCorrespondences

(

)

Destructor

Definition at line 77 of file rotation_from_correspondences.hpp.

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Member Function Documentation

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,
		float	weight2 = 1.0
	)		[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.

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Member Data Documentation

float pcl::RotationFromCorrespondences::accumulated_weight2_

Definition at line 118 of file rotation_from_correspondences.h.

float pcl::RotationFromCorrespondences::accumulated_weight_

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.

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

• rotation_from_correspondences.h
• rotation_from_correspondences.hpp