Point Cloud Library (PCL)  1.9.1-dev
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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. 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:

Author
Aitor Aldoma

Definition at line 30 of file crh_alignment.h.

Constructor & Destructor Documentation

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

Constructor.

Definition at line 106 of file crh_alignment.h.

Member Function Documentation

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.

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 pcl::PointCloud< PointT >::points, and kiss_fft_cpx::r.

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.

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.

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: