Public Types | Public Member Functions | Protected Member Functions

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

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...

#include <pcl/features/moment_invariants.h>

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List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut

Public Member Functions

 MomentInvariantsEstimation ()
 Empty constructor.
void computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &j1, float &j2, float &j3)
 Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
void computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, float &j1, float &j2, float &j3)
 Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::MomentInvariantsEstimation< PointInT, PointOutT >

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.

Note:
The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOpenMP and NormalEstimationTBB for examples on how to extend this to parallel implementations.
Author:
Radu Bogdan Rusu

Definition at line 53 of file moment_invariants.h.


Member Typedef Documentation

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

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

Definition at line 63 of file moment_invariants.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 66 of file moment_invariants.h.


Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut output  )  [protected, virtual]

Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters:
output the resultant point cloud model dataset that contains the moment invariants

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 112 of file moment_invariants.hpp.

template<typename PointInT , typename PointOutT >
void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants ( const pcl::PointCloud< PointInT > &  cloud,
const std::vector< int > &  indices,
float &  j1,
float &  j2,
float &  j3 
)

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:
cloud the input point cloud
indices the point cloud indices that need to be used
j1 the resultant first moment invariant
j2 the resultant second moment invariant
j3 the resultant third moment invariant

Definition at line 45 of file moment_invariants.hpp.

template<typename PointInT , typename PointOutT >
void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants ( const pcl::PointCloud< PointInT > &  cloud,
float &  j1,
float &  j2,
float &  j3 
)

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:
cloud the input point cloud
j1 the resultant first moment invariant
j2 the resultant second moment invariant
j3 the resultant third moment invariant

Definition at line 79 of file moment_invariants.hpp.


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