CRHAlignment uses two Camera Roll Histograms (CRH) to find the roll rotation that aligns both views. See: More...

#include <crh_alignment.h>

Classes
struct	peaks_ordering
	Sorts peaks. More...
Public Member Functions
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 ()
	Constructor.
void	getTransforms (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transforms)
	returns the computed transformations
void	setInputAndTargetCentroids (Eigen::Vector3f &c1, Eigen::Vector3f &c2)
	sets model and input centroids
void	setInputAndTargetView (PointTPtr &input_view, PointTPtr &target_view)
	sets model and input views
Private Types
typedef pcl::PointCloud < PointT >::Ptr	PointTPtr
Private Member Functions
void	computeRollTransform (Eigen::Vector3f &centroidInput, Eigen::Vector3f &centroidResult, double roll_angle, Eigen::Affine3f &final_trans)
	computes the roll transformation
void	computeTransformToZAxes (Eigen::Vector3f &centroid, Eigen::Affine3f &transform)
	computes the transformation to the z-axis
Private Attributes
float	accept_threshold_
	Threshold for a peak to be accepted. If peak_i >= (max_peak * accept_threhsold_) => peak is accepted.
Eigen::Vector3f	centroid_input_
	Centroid of the input_view_.
Eigen::Vector3f	centroid_target_
	Centroid of the model_view_.
PointTPtr	input_view_
	View of the input.
int	max_peaks_
	Allowed maximum number of peaks.
float	quantile_
	Quantile of peaks after sorting to be checked.
PointTPtr	target_view_
	View of the model to be aligned to input_view_.
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator < Eigen::Matrix4f > >	transforms_
	transforms from model view to input view

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 31 of file crh_alignment.h.

Member Typedef Documentation

template<typename PointT , int nbins_>

typedef pcl::PointCloud<PointT>::Ptr pcl::CRHAlignment< PointT, nbins_ >::PointTPtr [private]

Definition at line 45 of file crh_alignment.h.

Constructor & Destructor Documentation

template<typename PointT , int nbins_>

pcl::CRHAlignment< PointT, nbins_ >::CRHAlignment ( ) [inline]

Constructor.

Definition at line 107 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_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.

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 modle.

Parameters:

[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.

template<typename PointT , int nbins_>

void pcl::CRHAlignment< PointT, nbins_ >::computeRollTransform	(	Eigen::Vector3f &	centroidInput,
		Eigen::Vector3f &	centroidResult,
		double	roll_angle,
		Eigen::Affine3f &	final_trans
	)		`[inline, private]`

computes the roll transformation

Parameters:

[in]	centroid	input
[in]	centroid	view
[in]	roll_angle
[out]	roll	transformation

Definition at line 92 of file crh_alignment.h.

template<typename PointT , int nbins_>

void pcl::CRHAlignment< PointT, nbins_ >::computeTransformToZAxes	(	Eigen::Vector3f &	centroid,
		Eigen::Affine3f &	transform
	)		`[inline, private]`

computes the transformation to the z-axis

Parameters:

[in]	centroid
[out]	trasnformation	to z-axis

Definition at line 71 of file crh_alignment.h.

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] transformations

Definition at line 116 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]	c1	model view centroid
[in]	c2	input view centroid

Definition at line 136 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]	model	view
[in]	input_view

Definition at line 125 of file crh_alignment.h.

Member Data Documentation

template<typename PointT , int nbins_>

float pcl::CRHAlignment< PointT, nbins_ >::accept_threshold_ [private]

Threshold for a peak to be accepted. If peak_i >= (max_peak * accept_threhsold_) => peak is accepted.

Definition at line 64 of file crh_alignment.h.

template<typename PointT , int nbins_>

Eigen::Vector3f pcl::CRHAlignment< PointT, nbins_ >::centroid_input_ [private]

Centroid of the input_view_.

Definition at line 54 of file crh_alignment.h.

template<typename PointT , int nbins_>

Eigen::Vector3f pcl::CRHAlignment< PointT, nbins_ >::centroid_target_ [private]

Centroid of the model_view_.

Definition at line 52 of file crh_alignment.h.

template<typename PointT , int nbins_>

PointTPtr pcl::CRHAlignment< PointT, nbins_ >::input_view_ [private]

View of the input.

Definition at line 50 of file crh_alignment.h.

template<typename PointT , int nbins_>

int pcl::CRHAlignment< PointT, nbins_ >::max_peaks_ [private]

Allowed maximum number of peaks.

Definition at line 58 of file crh_alignment.h.

template<typename PointT , int nbins_>

float pcl::CRHAlignment< PointT, nbins_ >::quantile_ [private]

Quantile of peaks after sorting to be checked.

Definition at line 60 of file crh_alignment.h.

template<typename PointT , int nbins_>

PointTPtr pcl::CRHAlignment< PointT, nbins_ >::target_view_ [private]

View of the model to be aligned to input_view_.

Definition at line 48 of file crh_alignment.h.

template<typename PointT , int nbins_>

std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > pcl::CRHAlignment< PointT, nbins_ >::transforms_ [private]

transforms from model view to input view

Definition at line 56 of file crh_alignment.h.

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

crh_alignment.h

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<typename PointT, int nbins_> class pcl::CRHAlignment< PointT, nbins_ >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT, int nbins_>
class pcl::CRHAlignment< PointT, nbins_ >