Point Cloud Library (PCL)
1.11.0
pcl
common
transformation_from_correspondences.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* copyright notice, this list of conditions and the following
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <pcl/common/eigen.h>
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namespace
pcl
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{
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/**
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* \brief Calculates a transformation based on corresponding 3D points
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* \author Bastian Steder
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* \ingroup common
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*/
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class
TransformationFromCorrespondences
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{
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public
:
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//-----CONSTRUCTOR&DESTRUCTOR-----
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/** Constructor - dimension gives the size of the vectors to work with. */
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TransformationFromCorrespondences
()
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{
reset
(); }
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//-----METHODS-----
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/** Reset the object to work with a new data set */
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inline
void
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reset
();
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/** Get the summed up weight of all added vectors */
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inline
float
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getAccumulatedWeight
()
const
{
return
accumulated_weight_
;}
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/** Get the number of added vectors */
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inline
unsigned
int
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getNoOfSamples
()
const
{
return
no_of_samples_
;}
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/** Add a new sample */
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inline
void
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add
(
const
Eigen::Vector3f& point,
const
Eigen::Vector3f& corresponding_point,
float
weight=1.0);
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/** Calculate the transformation that will best transform the points into their correspondences */
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inline
Eigen::Affine3f
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getTransformation
();
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//-----VARIABLES-----
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protected
:
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//-----METHODS-----
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//-----VARIABLES-----
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unsigned
int
no_of_samples_
= 0;
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float
accumulated_weight_
= 0;
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Eigen::Vector3f
mean1_
= Eigen::Vector3f::Identity ();
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Eigen::Vector3f
mean2_
= Eigen::Vector3f::Identity ();
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Eigen::Matrix<float, 3, 3>
covariance_
= Eigen::Matrix<float, 3, 3>::Identity ();
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};
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}
// END namespace
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#include <pcl/common/impl/transformation_from_correspondences.hpp>
pcl
Definition:
convolution.h:46
pcl::TransformationFromCorrespondences::no_of_samples_
unsigned int no_of_samples_
Definition:
transformation_from_correspondences.h:82
pcl::TransformationFromCorrespondences::TransformationFromCorrespondences
TransformationFromCorrespondences()
Constructor - dimension gives the size of the vectors to work with.
Definition:
transformation_from_correspondences.h:53
pcl::TransformationFromCorrespondences::getNoOfSamples
unsigned int getNoOfSamples() const
Get the number of added vectors.
Definition:
transformation_from_correspondences.h:67
pcl::TransformationFromCorrespondences
Calculates a transformation based on corresponding 3D points.
Definition:
transformation_from_correspondences.h:49
pcl::TransformationFromCorrespondences::accumulated_weight_
float accumulated_weight_
Definition:
transformation_from_correspondences.h:83
pcl::TransformationFromCorrespondences::reset
void reset()
Reset the object to work with a new data set.
Definition:
transformation_from_correspondences.hpp:48
pcl::TransformationFromCorrespondences::covariance_
Eigen::Matrix< float, 3, 3 > covariance_
Definition:
transformation_from_correspondences.h:86
pcl::TransformationFromCorrespondences::getTransformation
Eigen::Affine3f getTransformation()
Calculate the transformation that will best transform the points into their correspondences.
Definition:
transformation_from_correspondences.hpp:78
pcl::TransformationFromCorrespondences::mean2_
Eigen::Vector3f mean2_
Definition:
transformation_from_correspondences.h:85
pcl::TransformationFromCorrespondences::mean1_
Eigen::Vector3f mean1_
Definition:
transformation_from_correspondences.h:84
pcl::TransformationFromCorrespondences::add
void add(const Eigen::Vector3f &point, const Eigen::Vector3f &corresponding_point, float weight=1.0)
Add a new sample.
Definition:
transformation_from_correspondences.hpp:59
pcl::TransformationFromCorrespondences::getAccumulatedWeight
float getAccumulatedWeight() const
Get the summed up weight of all added vectors.
Definition:
transformation_from_correspondences.h:63