Point Cloud Library (PCL)
1.7.2
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Calculates a transformation based on corresponding 3D points. More...
#include <pcl/common/transformation_from_correspondences.h>
Public Member Functions | |
TransformationFromCorrespondences () | |
Constructor - dimension gives the size of the vectors to work with. More... | |
~TransformationFromCorrespondences () | |
Destructor. More... | |
void | reset () |
Reset the object to work with a new data set. More... | |
float | getAccumulatedWeight () const |
Get the summed up weight of all added vectors. More... | |
unsigned int | getNoOfSamples () |
Get the number of added vectors. More... | |
void | add (const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0) |
Add a new sample. More... | |
Eigen::Affine3f | getTransformation () |
Calculate the transformation that will best transform the points into their correspondences. More... | |
Protected Attributes | |
unsigned int | no_of_samples_ |
float | accumulated_weight_ |
Eigen::Vector3f | mean1_ |
Eigen::Vector3f | mean2_ |
Eigen::Matrix< float, 3, 3 > | covariance_ |
Calculates a transformation based on corresponding 3D points.
Definition at line 49 of file transformation_from_correspondences.h.
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Constructor - dimension gives the size of the vectors to work with.
Definition at line 54 of file transformation_from_correspondences.h.
References reset().
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Destructor.
Definition at line 62 of file transformation_from_correspondences.h.
References reset().
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Add a new sample.
Definition at line 53 of file transformation_from_correspondences.hpp.
References accumulated_weight_, covariance_, mean1_, mean2_, and no_of_samples_.
Referenced by getNoOfSamples(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track().
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Get the summed up weight of all added vectors.
Definition at line 71 of file transformation_from_correspondences.h.
References accumulated_weight_.
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Get the number of added vectors.
Definition at line 75 of file transformation_from_correspondences.h.
References add(), getTransformation(), and no_of_samples_.
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Calculate the transformation that will best transform the points into their correspondences.
Definition at line 72 of file transformation_from_correspondences.hpp.
References covariance_, mean1_, and mean2_.
Referenced by getNoOfSamples(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track().
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Reset the object to work with a new data set.
Definition at line 42 of file transformation_from_correspondences.hpp.
References accumulated_weight_, covariance_, mean1_, mean2_, and no_of_samples_.
Referenced by TransformationFromCorrespondences(), and ~TransformationFromCorrespondences().
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Definition at line 91 of file transformation_from_correspondences.h.
Referenced by add(), getAccumulatedWeight(), and reset().
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Definition at line 93 of file transformation_from_correspondences.h.
Referenced by add(), getTransformation(), and reset().
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Definition at line 92 of file transformation_from_correspondences.h.
Referenced by add(), getTransformation(), and reset().
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Definition at line 92 of file transformation_from_correspondences.h.
Referenced by add(), getTransformation(), and reset().
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Definition at line 90 of file transformation_from_correspondences.h.
Referenced by add(), getNoOfSamples(), and reset().