Point Cloud Library (PCL) 1.12.0
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pcl::CRHAlignment< PointT, nbins_ > Class Template Reference

CRHAlignment uses two Camera Roll Histograms (CRH) to find the roll rotation that aligns both views. More...

#include <pcl/recognition/crh_alignment.h>

Public Member Functions

 CRHAlignment ()
 Constructor.
 
void getTransforms (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transforms)
 returns the computed transformations
 
void setInputAndTargetView (PointTPtr &input_view, PointTPtr &target_view)
 sets model and input views
 
void setInputAndTargetCentroids (Eigen::Vector3f &c1, Eigen::Vector3f &c2)
 sets model and input centroids
 
void align (pcl::PointCloud< pcl::Histogram< nbins_ > > &input_ftt, pcl::PointCloud< pcl::Histogram< nbins_ > > &target_ftt)
 Computes the transformation aligning model to input.
 
void computeRollAngle (pcl::PointCloud< pcl::Histogram< nbins_ > > &input_ftt, pcl::PointCloud< pcl::Histogram< nbins_ > > &target_ftt, std::vector< float > &peaks)
 Computes the roll angle that aligns input to model.
 

Detailed Description

template<typename PointT, int nbins_>
class pcl::CRHAlignment< PointT, nbins_ >

CRHAlignment uses two Camera Roll Histograms (CRH) to find the roll rotation that aligns both views.

See:

  • CAD-Model Recognition and 6 DOF Pose Estimation A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski ICCV 2011, 3D Representation and Recognition (3dRR11) workshop Barcelona, Spain, (2011)
Author
Aitor Aldoma

Definition at line 30 of file crh_alignment.h.

Constructor & Destructor Documentation

◆ CRHAlignment()

template<typename PointT , int nbins_>
pcl::CRHAlignment< PointT, nbins_ >::CRHAlignment ( )
inline

Constructor.

Definition at line 106 of file crh_alignment.h.

Member Function Documentation

◆ align()

template<typename PointT , int nbins_>
void pcl::CRHAlignment< PointT, nbins_ >::align ( pcl::PointCloud< pcl::Histogram< nbins_ > > & input_ftt,
pcl::PointCloud< pcl::Histogram< nbins_ > > & target_ftt )
inline

Computes the transformation aligning model to input.

Parameters
[in]input_fttCRH histogram of the input cloud
[in]target_fttCRH histogram of the target cloud

Definition at line 146 of file crh_alignment.h.

◆ computeRollAngle()

template<typename PointT , int nbins_>
void pcl::CRHAlignment< PointT, nbins_ >::computeRollAngle ( pcl::PointCloud< pcl::Histogram< nbins_ > > & input_ftt,
pcl::PointCloud< pcl::Histogram< nbins_ > > & target_ftt,
std::vector< float > & peaks )
inline

Computes the roll angle that aligns input to model.

Parameters
[in]input_fttCRH histogram of the input cloud
[in]target_fttCRH histogram of the target cloud
[out]peaksVector containing angles where the histograms correlate

Definition at line 184 of file crh_alignment.h.

References kiss_fft_cpx::i, and kiss_fft_cpx::r.

◆ getTransforms()

template<typename PointT , int nbins_>
void pcl::CRHAlignment< PointT, nbins_ >::getTransforms ( std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > & transforms)
inline

returns the computed transformations

Parameters
[out]transformstransformations

Definition at line 115 of file crh_alignment.h.

◆ setInputAndTargetCentroids()

template<typename PointT , int nbins_>
void pcl::CRHAlignment< PointT, nbins_ >::setInputAndTargetCentroids ( Eigen::Vector3f & c1,
Eigen::Vector3f & c2 )
inline

sets model and input centroids

Parameters
[in]c1model view centroid
[in]c2input view centroid

Definition at line 135 of file crh_alignment.h.

◆ setInputAndTargetView()

template<typename PointT , int nbins_>
void pcl::CRHAlignment< PointT, nbins_ >::setInputAndTargetView ( PointTPtr & input_view,
PointTPtr & target_view )
inline

sets model and input views

Parameters
[in]input_view
[in]target_view

Definition at line 124 of file crh_alignment.h.


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