pcl::recognition::RotationSpace Class Reference

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. More...

#include <rigid_transform_space.h>

List of all members.

Public Member Functions
bool	addRigidTransform (const ModelLibrary::Model *model, const float axis_angle[3], const float translation[3])
const float *	getCenter () const
bool	getTransformWithMostVotes (const ModelLibrary::Model *model, float rigid_transform[12]) const
	RotationSpace (float discretization)
	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.
void	setCenter (const float *c)
virtual	~RotationSpace ()
Protected Attributes
RotationSpaceCellCreator	cell_creator_
float	center_ [3]
CellOctree	octree_

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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 195 of file rigid_transform_space.h.

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Constructor & Destructor Documentation

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 200 of file rigid_transform_space.h.

virtual pcl::recognition::RotationSpace::~RotationSpace

(

)

[inline, virtual]

Definition at line 209 of file rigid_transform_space.h.

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Member Function Documentation

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

Definition at line 269 of file rigid_transform_space.h.

const float* pcl::recognition::RotationSpace::getCenter

(

)

const [inline]

Definition at line 223 of file rigid_transform_space.h.

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

Definition at line 226 of file rigid_transform_space.h.

void pcl::recognition::RotationSpace::setCenter

(

const float *

c

)

[inline]

Definition at line 215 of file rigid_transform_space.h.

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Member Data Documentation

RotationSpaceCellCreator pcl::recognition::RotationSpace::cell_creator_ [protected]

Definition at line 290 of file rigid_transform_space.h.

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

Definition at line 291 of file rigid_transform_space.h.

CellOctree pcl::recognition::RotationSpace::octree_ [protected]

Definition at line 289 of file rigid_transform_space.h.

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

• rigid_transform_space.h