Public Types | Public Member Functions | Protected Attributes

pcl::CVFHEstimation< PointInT, PointNT, PointOutT > Class Template Reference
[Module features]

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/cvfh.h>

Inheritance diagram for pcl::CVFHEstimation< PointInT, PointNT, PointOutT >:
Inheritance graph
[legend]
Collaboration diagram for pcl::CVFHEstimation< PointInT, PointNT, PointOutT >:
Collaboration graph
[legend]

List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef pcl::KdTree
< PointNormal >::Ptr 
KdTreePtr
typedef pcl::NormalEstimation
< PointNormal, PointNormal
NormalEstimator
typedef pcl::VFHEstimation
< PointInT, PointNT,
pcl::VFHSignature308
VFHEstimator

Public Member Functions

 CVFHEstimation ()
 Empty constructor.
void filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold)
 Removes normals with high curvature caused by real edges or noisy data.
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint.
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint.
void getCentroidClusters (std::vector< Eigen::Vector3f > &centroids)
 Get the centroids used to compute different CVFH descriptors.

Protected Attributes

std::vector< Eigen::Vector3f > centroids_dominant_orientations_
 Centroids that were used to compute different CVFH descriptors.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing points and normals.

Definition at line 55 of file cvfh.h.


Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
typedef pcl::KdTree<PointNormal>::Ptr pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 67 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef pcl::NormalEstimation<PointNormal, PointNormal> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::NormalEstimator

Definition at line 68 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 66 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator

Definition at line 69 of file cvfh.h.


Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation (  )  [inline]

Empty constructor.

Definition at line 72 of file cvfh.h.


Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature ( const pcl::PointCloud< PointNT > &  cloud,
std::vector< int > &  indices_out,
std::vector< int > &  indices_in,
float  threshold 
)

Removes normals with high curvature caused by real edges or noisy data.

Parameters:
cloud pointcloud to be filtered
indices_out the indices of the points with higher curvature than threshold
indices_in the indices of the remaining points after filtering
threshold threshold value for curvature

Definition at line 132 of file cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters ( std::vector< Eigen::Vector3f > &  centroids  )  [inline]

Get the centroids used to compute different CVFH descriptors.

Parameters:
centroids vector to hold the centroids

Definition at line 120 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
) [inline]

Get the viewpoint.

Parameters:
vpx the X coordinate of the viewpoint
vpy the Y coordinate of the viewpoint
vpz the Z coordinate of the viewpoint

Definition at line 109 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
) [inline]

Set the viewpoint.

Parameters:
vpx the X coordinate of the viewpoint
vpy the Y coordinate of the viewpoint
vpz the Z coordinate of the viewpoint

Definition at line 96 of file cvfh.h.


Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
std::vector<Eigen::Vector3f> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_ [protected]

Centroids that were used to compute different CVFH descriptors.

Definition at line 187 of file cvfh.h.


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