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

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_ftt CRH histogram of the input cloud
[in] target_ftt CRH 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_ftt CRH histogram of the input cloud
[in] target_ftt CRH histogram of the target cloud
[out] peaks Vector 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] transforms transformations

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] c1 model view centroid
[in] c2 input 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:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_c_r_h_alignment.html