FitKnownRectangleRotationMaxPoints Class Reference

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.
size_t	countInliersOfAngle (float angle) const
	Count the inliers for a given local rotation angle.
pcl::PointIndicesPtr	findInliersOfAngle (float angle) const
	Get the inliers for a given local rotation angle.
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.
Eigen::Matrix4f	fit (const pcl::PointCloud< PointT > &cloud, Eigen::Vector3f normal, Eigen::Vector3f center)
	FitKnownRectangleRotationMaxPoints ()
float	getBestAngle () const
	Get the best local rotation angle.
std::vector< size_t >	getInlierCounts () const
	Get the inlier counts per step.
pcl::PointIndicesPtr	getInliers () const
	Get the inliers of the best local rotation angle.
size_t	getNumInliers () const
	Get the best local rotation angle.
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.
void	setNumSteps (const size_t &value)
	Set the number of solution steps, i.e. the resolution of the solution space.
void	setRectangleSize (const Eigen::Vector2f &value)
	Set the rectangle size.
template<typename Int>
float	stepToAngle (Int step) const
	Get the local rotation angle of a solution step.

Public Attributes
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	aligned {new pcl::PointCloud<pcl::PointXYZRGBA>}
	Transformed so center is at 0 and z = normal.
Eigen::Matrix4f	alignedTransform = Eigen::Matrix4f::Identity()
	Transformation applied to get aligned.
float	bestAngle = 0
	The best angle.
size_t	bestStep = 0
std::vector< size_t >	inlierCounts
	The inlier counts per step.
const float	maxAngle = float(M_PI)
size_t	numSteps = 180
	The number of steps (i.e. resolution of solution space).
Eigen::Vector2f	rectangleSize = Eigen::Vector2f::Ones()
	The rectangle size.
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	rotated
	Buffer for point clouds rotated for inlier counting.

Detailed Description

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

Member Typedef Documentation

PointT

using PointT = pcl::PointXYZRGBA

Constructor & Destructor Documentation

FitKnownRectangleRotationMaxPoints()

FitKnownRectangleRotationMaxPoints

(

)

Member Function Documentation

angleToPose()

Eigen::Matrix4f angleToPose

(

float

angle

)

Get the global pose corresponding to a local rotation angle.

countInliersOfAngle()

size_t countInliersOfAngle

(

float

angle

)

const

Count the inliers for a given local rotation angle.

findInliersOfAngle()

pcl::PointIndicesPtr findInliersOfAngle

(

float

angle

)

const

Get the inliers for a given local rotation angle.

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.

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.

getInlierCounts()

std::vector< size_t > getInlierCounts

(

)

const

Get the inlier counts per step.

getInliers()

pcl::PointIndicesPtr getInliers ( ) const

inline

Get the inliers of the best local rotation angle.

getNumInliers()

size_t getNumInliers ( ) const

inline

Get the best local rotation angle.

getNumSteps()

size_t getNumSteps

(

)

const

getRectangleSize()

Eigen::Vector2f getRectangleSize

(

)

const

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.

setNumSteps()

void setNumSteps

(

const size_t &

value

)

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

setRectangleSize()

void setRectangleSize

(

const Eigen::Vector2f &

value

)

Set the rectangle size.

stepToAngle()

template<typename Int>

float stepToAngle ( Int step ) const

inline

Get the local rotation angle of a solution step.

Member Data Documentation

aligned

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

Transformed so center is at 0 and z = normal.

alignedTransform

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

Transformation applied to get aligned.

bestAngle

float bestAngle = 0

The best angle.

bestStep

size_t bestStep = 0

inlierCounts

std::vector<size_t> inlierCounts

The inlier counts per step.

maxAngle

const float maxAngle = float(M_PI)

numSteps

size_t numSteps = 180

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

rectangleSize

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

The rectangle size.

rotated

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

mutable

Initial value:

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

Buffer for point clouds rotated for inlier counting.

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

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