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This is a class for a discrete representation of the rotation space based on the axis-angle representation. More...

#include <pcl/recognition/ransac_based/rigid_transform_space.h>

Public Member Functions

RotationSpace (float discretization)
We use the axis-angle representation for rotations. More...
virtual ~RotationSpace ()
void setCenter (const float *c)
const float * getCenter () const
bool getTransformWithMostVotes (const ModelLibrary::Model *model, float rigid_transform[12]) const
bool addRigidTransform (const ModelLibrary::Model *model, const float axis_angle[3], const float translation[3])

Protected Attributes

CellOctree octree_
RotationSpaceCellCreator cell_creator_
float center_ [3]

Detailed Description

This is a class for a discrete representation of the rotation space based on the axis-angle representation.

This class is not supposed to be very general. That's why it is dependent on the class ModelLibrary.

Author
Chavdar Papazov

Definition at line 194 of file rigid_transform_space.h.

Constructor & Destructor Documentation

RotationSpace()

pcl::recognition::RotationSpace::RotationSpace ( float discretization )
inline

We use the axis-angle representation for rotations.

The axis is encoded in the vector and the angle is its magnitude. This is represented in an octree with bounds [-pi, pi]^3.

Definition at line 199 of file rigid_transform_space.h.

~RotationSpace()

virtual pcl::recognition::RotationSpace::~RotationSpace ( )
inlinevirtual

Definition at line 208 of file rigid_transform_space.h.

Member Function Documentation

addRigidTransform()

bool pcl::recognition::RotationSpace::addRigidTransform ( const ModelLibrary::Model * model,
const float axis_angle[3],
const float translation[3]
)
inline

Definition at line 268 of file rigid_transform_space.h.

getCenter()

const float* pcl::recognition::RotationSpace::getCenter ( ) const
inline

Definition at line 222 of file rigid_transform_space.h.

getTransformWithMostVotes()

bool pcl::recognition::RotationSpace::getTransformWithMostVotes ( const ModelLibrary::Model * model,
float rigid_transform[12]
) const
inline

Definition at line 225 of file rigid_transform_space.h.

References pcl::recognition::RotationSpaceCell::Entry::computeAverageRigidTransform(), and pcl::recognition::RotationSpaceCell::Entry::getNumberOfTransforms().

setCenter()

void pcl::recognition::RotationSpace::setCenter ( const float * c )
inline

Definition at line 214 of file rigid_transform_space.h.

Referenced by pcl::recognition::RotationSpaceCreator::create().

Member Data Documentation

cell_creator_

RotationSpaceCellCreator pcl::recognition::RotationSpace::cell_creator_
protected

Definition at line 289 of file rigid_transform_space.h.

center_

float pcl::recognition::RotationSpace::center_[3]
protected

Definition at line 290 of file rigid_transform_space.h.

octree_

CellOctree pcl::recognition::RotationSpace::octree_
protected

Definition at line 288 of file rigid_transform_space.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_1recognition_1_1_rotation_space.html