pcl::recognition::RotationSpace Class Reference

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>

Collaboration diagram for pcl::recognition::RotationSpace:

Public Member Functions
	RotationSpace (float discretization)
	We use the axis-angle representation for rotations.
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 193 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 198 of file rigid_transform_space.h.

References cell_creator_, and octree_.

~RotationSpace()

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

inlinevirtual

Definition at line 207 of file rigid_transform_space.h.

References octree_.

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 267 of file rigid_transform_space.h.

References pcl::recognition::RotationSpaceCell::addRigidTransform(), and octree_.

Referenced by pcl::recognition::RigidTransformSpace::addRigidTransform().

getCenter()

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

inline

Definition at line 221 of file rigid_transform_space.h.

References center_.

getTransformWithMostVotes()

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

inline

Definition at line 224 of file rigid_transform_space.h.

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

setCenter()

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

inline

Definition at line 213 of file rigid_transform_space.h.

References center_.

Member Data Documentation

cell_creator_

RotationSpaceCellCreator pcl::recognition::RotationSpace::cell_creator_

protected

Definition at line 288 of file rigid_transform_space.h.

Referenced by RotationSpace().

center_

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

protected

Definition at line 289 of file rigid_transform_space.h.

Referenced by getCenter(), and setCenter().

octree_

CellOctree pcl::recognition::RotationSpace::octree_

protected

Definition at line 287 of file rigid_transform_space.h.

Referenced by addRigidTransform(), getTransformWithMostVotes(), RotationSpace(), and ~RotationSpace().

---

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

• pcl/recognition/ransac_based/rigid_transform_space.h