Point Cloud Library (PCL)  1.3.1
transformation_from_correspondences.h
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00001 /*
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00034 
00035 #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
00036 #define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
00037 
00038 #include <Eigen/Core>
00039 
00040 namespace pcl 
00041 {
00047   class TransformationFromCorrespondences 
00048   {
00049      public:
00050         //-----CONSTRUCTOR&DESTRUCTOR-----
00052         TransformationFromCorrespondences ();
00053 
00055         ~TransformationFromCorrespondences ();
00056         
00057         //-----METHODS-----
00059         inline void 
00060         reset ();
00061         
00063         inline float 
00064         getAccumulatedWeight () const { return accumulated_weight_;}
00065         
00067         inline unsigned int 
00068         getNoOfSamples () { return no_of_samples_;}
00069         
00071         inline void 
00072         add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0);
00073         
00075         inline Eigen::Affine3f 
00076         getTransformation ();
00077         
00078         //-----VARIABLES-----
00079         
00080      protected:
00081         //-----METHODS-----
00082         //-----VARIABLES-----
00083         unsigned int no_of_samples_;
00084         float accumulated_weight_;
00085         Eigen::Vector3f mean1_, mean2_;
00086         Eigen::Matrix<float, 3, 3> covariance_;
00087   };
00088 
00089 }  // END namespace
00090 
00091 #include "pcl/common/impl/transformation_from_correspondences.hpp"
00092 
00093 #endif  // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H
00094 
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