calculate 3D transformation based on point correspondences More...
#include <pcl/common/poses_from_matches.h>
Classes |
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| struct | Parameters |
| Parameters used in this class. More... |
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| struct | PoseEstimate |
| A result of the pose estimation process. More... |
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Public Types |
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| using | PoseEstimatesVector = std::vector< PoseEstimate, Eigen::aligned_allocator< PoseEstimate > > |
Public Member Functions |
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| void | estimatePosesUsing1Correspondence (const PointCorrespondences6DVector &correspondences, int max_no_of_results, PoseEstimatesVector &pose_estimates) const |
| Use single 6DOF correspondences to estimate transformations between the coordinate systems. More... |
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| void | estimatePosesUsing2Correspondences (const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const |
| Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems. More... |
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| void | estimatePosesUsing3Correspondences (const PointCorrespondences6DVector &correspondences, int max_no_of_tested_combinations, int max_no_of_results, PoseEstimatesVector &pose_estimates) const |
| Use triples of 6DOF correspondences to estimate transformations between the coordinate systems. More... |
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| Parameters & | getParameters () |
| Get a reference to the parameters struct. More... |
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Protected Attributes |
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| Parameters | parameters_ |
Detailed Description
calculate 3D transformation based on point correspondences
Definition at line 52 of file poses_from_matches.h.
Member Typedef Documentation
PoseEstimatesVector
| using pcl::PosesFromMatches::PoseEstimatesVector = std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> > |
Definition at line 78 of file poses_from_matches.h.
Member Function Documentation
estimatePosesUsing1Correspondence()
| void pcl::PosesFromMatches::estimatePosesUsing1Correspondence | ( | const PointCorrespondences6DVector & | correspondences, |
| int | max_no_of_results, | ||
| PoseEstimatesVector & | pose_estimates | ||
| ) | const |
Use single 6DOF correspondences to estimate transformations between the coordinate systems.
Use max_no_of_results=-1 to use all. It is assumed, that the correspondences are sorted from good to bad.
estimatePosesUsing2Correspondences()
| void pcl::PosesFromMatches::estimatePosesUsing2Correspondences | ( | const PointCorrespondences6DVector & | correspondences, |
| int | max_no_of_tested_combinations, | ||
| int | max_no_of_results, | ||
| PoseEstimatesVector & | pose_estimates | ||
| ) | const |
Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems.
It is assumed, that the correspondences are sorted from good to bad.
estimatePosesUsing3Correspondences()
| void pcl::PosesFromMatches::estimatePosesUsing3Correspondences | ( | const PointCorrespondences6DVector & | correspondences, |
| int | max_no_of_tested_combinations, | ||
| int | max_no_of_results, | ||
| PoseEstimatesVector & | pose_estimates | ||
| ) | const |
Use triples of 6DOF correspondences to estimate transformations between the coordinate systems.
It is assumed, that the correspondences are sorted from good to bad.
getParameters()
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inline |
Get a reference to the parameters struct.
Definition at line 110 of file poses_from_matches.h.
Member Data Documentation
parameters_
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protected |
Definition at line 114 of file poses_from_matches.h.
The documentation for this class was generated from the following file:
- pcl/common/poses_from_matches.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_poses_from_matches.html