Point Cloud Library (PCL)
1.7.0
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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>
Classes | |
struct | peaks_ordering |
Sorts peaks. | |
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 modle. |
CRHAlignment uses two Camera Roll Histograms (CRH) to find the roll rotation that aligns both views.
See:
Definition at line 31 of file crh_alignment.h.
pcl::CRHAlignment< PointT, nbins_ >::CRHAlignment | ( | ) | [inline] |
Constructor.
Definition at line 107 of file crh_alignment.h.
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.
[in] | input_ftt | CRH histogram of the input cloud |
[in] | target_ftt | CRH histogram of the target cloud |
Definition at line 147 of file crh_alignment.h.
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 modle.
[in] | CRH | histogram of the input cloud |
[in] | CRH | histogram of the target cloud |
[out] | Vector | containing angles where the histograms correlate |
Definition at line 185 of file crh_alignment.h.
References pcl::PointCloud< PointT >::points, and kiss_fft_cpx::r.
void pcl::CRHAlignment< PointT, nbins_ >::getTransforms | ( | std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > & | transforms | ) | [inline] |
returns the computed transformations
[out] | transformations |
Definition at line 116 of file crh_alignment.h.
void pcl::CRHAlignment< PointT, nbins_ >::setInputAndTargetCentroids | ( | Eigen::Vector3f & | c1, |
Eigen::Vector3f & | c2 | ||
) | [inline] |
sets model and input centroids
[in] | c1 | model view centroid |
[in] | c2 | input view centroid |
Definition at line 136 of file crh_alignment.h.
void pcl::CRHAlignment< PointT, nbins_ >::setInputAndTargetView | ( | PointTPtr & | input_view, |
PointTPtr & | target_view | ||
) | [inline] |
sets model and input views
[in] | model | view |
[in] | input_view |
Definition at line 125 of file crh_alignment.h.