pcl::FFTRotationAndScaling Class Reference

FFT registration engine: rotation and scaling More...

#include <FFTRegistration.h>

Inheritance diagram for pcl::FFTRotationAndScaling:

Public Member Functions
	FFTRotationAndScaling ()=default
	~FFTRotationAndScaling () override
void	DisableScalingEvaluation (bool disable=true)
void	EnableScalingEvaluation (bool enable=true)
bool	EvaluatesScaling () const
bool	HasLowFrequencyCutoff () const
float	LowFrequencyCutoff () const
float	RotationAngle () const
float	ScalingRatio () const
void	SetLowFrequencyCutoff (float r)
Public Member Functions inherited from pcl::FFTRegistrationEngine
	FFTRegistrationEngine ()=default
	FFTRegistrationEngine (const FFTRegistrationEngine &)=default
	FFTRegistrationEngine (FFTRegistrationEngine &&x)
virtual	~FFTRegistrationEngine ()
const ComplexImage &	DFTOfReferenceImage () const
void	Evaluate (const ImageVariant &image)
template<class P >
void	Evaluate (const pcl::GenericImage< P > &image)
void	Initialize (const ImageVariant &image)
template<class P >
void	Initialize (const pcl::GenericImage< P > &image)
bool	IsInitialized () const
void	Reset ()

Detailed Description

FFTRotationAndScaling evaluates rotation and scaling image registration parameters. It computes the rotation angle and scaling ratio required to register a target image on a reference image, using an algorithm based on the Fourier-Mellin transform.

Warning

This class is currently experimental. It is not guaranteed to provide reliable image registration parameters.

See also

FFTTranslation, FFTRegistrationEngine

Definition at line 468 of file FFTRegistration.h.

Constructor & Destructor Documentation

FFTRotationAndScaling()

pcl::FFTRotationAndScaling::FFTRotationAndScaling ( )

default

Constructs an FFTRotationAndScaling object.

Scaling ratio evaluation (see EvaluatesScaling()) is disabled by default.

~FFTRotationAndScaling()

pcl::FFTRotationAndScaling::~FFTRotationAndScaling ( )

inlineoverride

Destroys an FFTRotationAndScaling object.

Definition at line 482 of file FFTRegistration.h.

Member Function Documentation

DisableScalingEvaluation()

void pcl::FFTRotationAndScaling::DisableScalingEvaluation ( bool  disable = true )

inline

Disables evaluation of scaling ratios.

This is a convenience member function, equivalent to EnableScalingEvaluation( !disable )

Definition at line 513 of file FFTRegistration.h.

EnableScalingEvaluation()

void pcl::FFTRotationAndScaling::EnableScalingEvaluation ( bool  enable = true )

inline

Enables evaluation of scaling ratios.

Definition at line 498 of file FFTRegistration.h.

EvaluatesScaling()

bool pcl::FFTRotationAndScaling::EvaluatesScaling ( ) const

inline

Returns true iff this engine evaluates scaling ratios. By default, scale evaluation is disabled.

Definition at line 490 of file FFTRegistration.h.

HasLowFrequencyCutoff()

bool pcl::FFTRotationAndScaling::HasLowFrequencyCutoff ( ) const

inline

Returns true iff this engine uses a low-frequency cutoff to reduce the effects of rotational aliasing.

Definition at line 533 of file FFTRegistration.h.

LowFrequencyCutoff()

float pcl::FFTRotationAndScaling::LowFrequencyCutoff ( ) const

inline

Returns the current low frequency cutoff for this registration engine.

See the documentation for SetLowFrequencyCutoff() for a detailed description of low-frequency cutoffs.

Definition at line 524 of file FFTRegistration.h.

RotationAngle()

float pcl::FFTRotationAndScaling::RotationAngle ( ) const

inline

Returns the evaluated rotation angle in radians.

The returned value is the required rotation angle to register the last evaluated target image on the reference image set upon initialization.

Definition at line 559 of file FFTRegistration.h.

ScalingRatio()

float pcl::FFTRotationAndScaling::ScalingRatio ( ) const

inline

Returns the evaluated scaling ratio.

The returned value is the required scaling ratio to register the last evaluated target image on the reference image set upon initialization.

Definition at line 570 of file FFTRegistration.h.

SetLowFrequencyCutoff()

void pcl::FFTRotationAndScaling::SetLowFrequencyCutoff ( float  r )

inline

Sets the radius of the low-frequency cutoff.

The evaluation of rotation and scaling registration parameters can benefit from a simple low-frequency cutoff operation to reduce rotational aliasing on the computed DFTs. The value set by this function is the radius of the cutoff hole relative to the largest dimension of the reference image. The default value is 1/200. A value of zero disables the low-frequency cutoff feature.

Definition at line 548 of file FFTRegistration.h.

References pcl::Range().

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

• FFTRegistration.h