Finds the rotation of a rectangle of known size at a given position that contains the most points from a point cloud. More...

#include <VisionX/libraries/PointCloudTools/FitKnownRectangleRotationMaxPoints.h>

Public Types
using	PointT = pcl::PointXYZRGBA

Public Member Functions
Eigen::Matrix4f	angleToPose (float angle)
	Get the global pose corresponding to a local rotation angle. More...

size_t	countInliersOfAngle (float angle) const
	Count the inliers for a given local rotation angle. More...

pcl::PointIndicesPtr	findInliersOfAngle (float angle) const
	Get the inliers for a given local rotation angle. More...

Eigen::Matrix4f	fit ()
	Count the number of inliers per rotation step, and return the global pose corresponding to the rotation angle with the highest number of inliers. More...

Eigen::Matrix4f	fit (const pcl::PointCloud< PointT > &cloud, Eigen::Vector3f normal, Eigen::Vector3f center)

	FitKnownRectangleRotationMaxPoints ()

float	getBestAngle () const
	Get the best local rotation angle. More...

std::vector< size_t >	getInlierCounts () const
	Get the inlier counts per step. More...

pcl::PointIndicesPtr	getInliers () const
	Get the inliers of the best local rotation angle. More...

size_t	getNumInliers () const
	Get the best local rotation angle. More...

size_t	getNumSteps () const

Eigen::Vector2f	getRectangleSize () const

void	setInputCloud (const pcl::PointCloud< PointT > &cloud, Eigen::Vector3f normal, Eigen::Vector3f center)
	Set the input cloud and the rectangle's position and normal. More...

void	setNumSteps (const size_t &value)
	Set the number of solution steps, i.e. the resolution of the solution space. More...

void	setRectangleSize (const Eigen::Vector2f &value)
	Set the rectangle size. More...

template<typename Int >
float	stepToAngle (Int step) const
	Get the local rotation angle of a solution step. More...

Public Attributes
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	aligned {new pcl::PointCloud<pcl::PointXYZRGBA>}
	Transformed so center is at 0 and z = normal. More...

Eigen::Matrix4f	alignedTransform = Eigen::Matrix4f::Identity()
	Transformation applied to get `aligned`. More...

float	bestAngle = 0
	The best angle. More...

size_t	bestStep = 0

std::vector< size_t >	inlierCounts
	The inlier counts per step. More...

const float	maxAngle = float(M_PI)

size_t	numSteps = 180
	The number of steps (i.e. resolution of solution space). More...

Eigen::Vector2f	rectangleSize = Eigen::Vector2f::Ones()
	The rectangle size. More...

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	rotated
	Buffer for point clouds rotated for inlier counting. More...

Detailed Description

Finds the rotation of a rectangle of known size at a given position that contains the most points from a point cloud.

Definition at line 21 of file FitKnownRectangleRotationMaxPoints.h.

Member Typedef Documentation

◆ PointT

using PointT = pcl::PointXYZRGBA

Definition at line 24 of file FitKnownRectangleRotationMaxPoints.h.

Constructor & Destructor Documentation

◆ FitKnownRectangleRotationMaxPoints()

FitKnownRectangleRotationMaxPoints ( )

Definition at line 9 of file FitKnownRectangleRotationMaxPoints.cpp.

Member Function Documentation

◆ angleToPose()

Eigen::Matrix4f angleToPose ( float angle )

Get the global pose corresponding to a local rotation angle.

Definition at line 140 of file FitKnownRectangleRotationMaxPoints.cpp.

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◆ countInliersOfAngle()

size_t countInliersOfAngle ( float angle ) const

Count the inliers for a given local rotation angle.

Definition at line 112 of file FitKnownRectangleRotationMaxPoints.cpp.

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◆ findInliersOfAngle()

pcl::PointIndicesPtr findInliersOfAngle ( float angle ) const

Get the inliers for a given local rotation angle.

Definition at line 122 of file FitKnownRectangleRotationMaxPoints.cpp.

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◆ fit() [1/2]

Eigen::Matrix4f fit ( )

Count the number of inliers per rotation step, and return the global pose corresponding to the rotation angle with the highest number of inliers.

The best rotation angle can be retrieved via getAngle(). The number of inliers per step retrieved via getInlierCounts().

Returns: The global pose of the fitted rectangle.

Definition at line 46 of file FitKnownRectangleRotationMaxPoints.cpp.

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◆ fit() [2/2]

Eigen::Matrix4f fit	(	const pcl::PointCloud< PointT > &	cloud,
		Eigen::Vector3f	normal,
		Eigen::Vector3f	center
	)

See also: setInputCloud(), fit()

◆ getBestAngle()

float getBestAngle ( ) const

Get the best local rotation angle.

Definition at line 153 of file FitKnownRectangleRotationMaxPoints.cpp.

◆ getInlierCounts()

std::vector< size_t > getInlierCounts ( ) const

Get the inlier counts per step.

Definition at line 147 of file FitKnownRectangleRotationMaxPoints.cpp.

◆ getInliers()

pcl::PointIndicesPtr getInliers ( ) const

inline

Get the inliers of the best local rotation angle.

Definition at line 91 of file FitKnownRectangleRotationMaxPoints.h.

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◆ getNumInliers()

size_t getNumInliers ( ) const

inline

Get the best local rotation angle.

Definition at line 84 of file FitKnownRectangleRotationMaxPoints.h.

◆ getNumSteps()

size_t getNumSteps ( ) const

Definition at line 26 of file FitKnownRectangleRotationMaxPoints.cpp.

◆ getRectangleSize()

Eigen::Vector2f getRectangleSize ( ) const

Definition at line 14 of file FitKnownRectangleRotationMaxPoints.cpp.

◆ setInputCloud()

void setInputCloud	(	const pcl::PointCloud< PointT > &	cloud,
		Eigen::Vector3f	normal,
		Eigen::Vector3f	center
	)

Set the input cloud and the rectangle's position and normal.

Parameters

cloud	The input cloud.
normal	The rectangle normal.
center	The rectangle center.

Definition at line 38 of file FitKnownRectangleRotationMaxPoints.cpp.

◆ setNumSteps()

void setNumSteps ( const size_t & value )

Set the number of solution steps, i.e. the resolution of the solution space.

Definition at line 32 of file FitKnownRectangleRotationMaxPoints.cpp.

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◆ setRectangleSize()

void setRectangleSize ( const Eigen::Vector2f & value )

Set the rectangle size.

Definition at line 20 of file FitKnownRectangleRotationMaxPoints.cpp.

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◆ stepToAngle()

float stepToAngle ( Int step ) const

inline

Get the local rotation angle of a solution step.

Definition at line 104 of file FitKnownRectangleRotationMaxPoints.h.

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Member Data Documentation

◆ aligned

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr aligned {new pcl::PointCloud<pcl::PointXYZRGBA>}

Transformed so center is at 0 and z = normal.

Definition at line 140 of file FitKnownRectangleRotationMaxPoints.h.

◆ alignedTransform

Eigen::Matrix4f alignedTransform = Eigen::Matrix4f::Identity()

Transformation applied to get aligned.

Definition at line 142 of file FitKnownRectangleRotationMaxPoints.h.

◆ bestAngle

float bestAngle = 0

The best angle.

Definition at line 153 of file FitKnownRectangleRotationMaxPoints.h.

◆ bestStep

size_t bestStep = 0

Definition at line 151 of file FitKnownRectangleRotationMaxPoints.h.

◆ inlierCounts

std::vector<size_t> inlierCounts

The inlier counts per step.

Definition at line 155 of file FitKnownRectangleRotationMaxPoints.h.

◆ maxAngle

const float maxAngle = float(M_PI)

Definition at line 134 of file FitKnownRectangleRotationMaxPoints.h.

◆ numSteps

size_t numSteps = 180

The number of steps (i.e. resolution of solution space).

Definition at line 133 of file FitKnownRectangleRotationMaxPoints.h.

◆ rectangleSize

Eigen::Vector2f rectangleSize = Eigen::Vector2f::Ones()

The rectangle size.

Definition at line 130 of file FitKnownRectangleRotationMaxPoints.h.

◆ rotated

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr rotated

mutable

Initial value:

{

new pcl::PointCloud<pcl::PointXYZRGBA>}

Buffer for point clouds rotated for inlier counting.

Definition at line 145 of file FitKnownRectangleRotationMaxPoints.h.

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

VisionX/libraries/PointCloudTools/FitKnownRectangleRotationMaxPoints.h
VisionX/libraries/PointCloudTools/FitKnownRectangleRotationMaxPoints.cpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ PointT

Constructor & Destructor Documentation

◆ FitKnownRectangleRotationMaxPoints()

Member Function Documentation

◆ angleToPose()

◆ countInliersOfAngle()

◆ findInliersOfAngle()

◆ fit() [1/2]

◆ fit() [2/2]

◆ getBestAngle()

◆ getInlierCounts()

◆ getInliers()

◆ getNumInliers()

◆ getNumSteps()

◆ getRectangleSize()

◆ setInputCloud()

◆ setNumSteps()

◆ setRectangleSize()

◆ stepToAngle()

Member Data Documentation

◆ aligned

◆ alignedTransform

◆ bestAngle

◆ bestStep

◆ inlierCounts

◆ maxAngle

◆ numSteps

◆ rectangleSize

◆ rotated