Public Types | Public Member Functions

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

Estimates spin-image descriptors in the given input points. More...

#include <pcl/features/spin_image.h>

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List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef pcl::PointCloud< PointNT > PointCloudN
typedef PointCloudN::Ptr PointCloudNPtr
typedef PointCloudN::ConstPtr PointCloudNConstPtr
typedef pcl::PointCloud< PointInT > PointCloudIn
typedef PointCloudIn::Ptr PointCloudInPtr
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, PointOutT > > 
Ptr
typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT, PointOutT > > 
ConstPtr
typedef PCLBase< PointInT > BaseClass
typedef pcl::search::Search
< PointInT > 
KdTree
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
typedef boost::function< int(size_t,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
typedef boost::function< int(const
PointCloudIn &cloud, size_t
index, double, std::vector
< int > &, std::vector< float > &)> 
SearchMethodSurface
typedef pcl::PointCloud< PointInT > PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointIndices::Ptr PointIndicesPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr

Public Member Functions

 SpinImageEstimation (unsigned int image_width=8, double support_angle_cos=0.0, unsigned int min_pts_neighb=0)
 Constructs empty spin image estimator.
void setImageWidth (unsigned int bin_count)
 Sets spin-image resolution.
void setSupportAngle (double support_angle_cos)
 Sets the maximum angle for the point normal to get to support region.
void setMinPointCountInNeighbourhood (unsigned int min_pts_neighb)
 Sets minimal points count for spin image computation.
void setInputWithNormals (const PointCloudInConstPtr &input, const PointCloudNConstPtr &normals)
 Sets input cloud along with corresponding normals.
void setSearchSurfaceWithNormals (const PointCloudInConstPtr &surface, const PointCloudNConstPtr &normals)
 Sets surface that is used to estimate descriptor.
void setRotationAxis (const PointNT &axis)
 Sets single vector a rotation axis for all input points.
void setInputRotationAxes (const PointCloudNConstPtr &axes)
 Sets array of vectors as rotation axes for input points.
void useNormalsAsRotationAxis ()
 Sets input normals as rotation axes (default setting).
void setAngularDomain (bool is_angular=true)
 Sets/unsets flag for angular spin-image domain.
void setRadialStructure (bool is_radial=true)
 Sets/unsets flag for radial spin-image structure.
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
PointCloudNConstPtr getInputNormals ()
 Get a pointer to the normals of the input XYZ point cloud dataset.
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
PointCloudInConstPtr getSearchSurface ()
 Get a pointer to the surface point cloud dataset.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
double getSearchParameter ()
 Get the internal search parameter.
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation.
int getKSearch ()
 get the number of k nearest neighbors used for the feature estimation.
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double getRadiusSearch ()
 Get the sphere radius used for determining the neighbors.
void compute (PointCloudOut &output)
 Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
int searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
int searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset.
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used.
const PointInT & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code.

Detailed Description

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

Estimates spin-image descriptors in the given input points.

This class represents spin image descriptor. Spin image is a histogram of point locations summed along the bins of the image. A 2D accumulator indexed by a and b is created. Next, the coordinates (a, b) are computed for a vertex in the surface mesh that is within the support of the spin image (explained below). The bin indexed by (a, b) in the accumulator is then incremented; bilinear interpolation is used to smooth the contribution of the vertex. This procedure is repeated for all vertices within the support of the spin image. The resulting accumulator can be thought of as an image; dark areas in the image correspond to bins that contain many projected points. As long as the size of the bins in the accumulator is greater than the median distance between vertices in the mesh (the definition of mesh resolution), the position of individual vertices will be averaged out during spin image generation.

For further information please see:
Johnson, A. E., & Hebert, M. (1998). Surface Matching for Object Recognition in Complex 3D Scenes. Image and Vision Computing, 16, 635-651.

The class also implements radial spin images and spin-images in angular domain (or both).

Author:
Roman Shapovalov, Alexander Velizhev

Definition at line 74 of file spin_image.h.


Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited]

Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.

Definition at line 103 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::ConstPtr [inherited]

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

Definition at line 290 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited]

Definition at line 108 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited]

Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.

Definition at line 109 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Reimplemented in pcl::ConcaveHull< PointInT >, and pcl::ConvexHull< PointInT >.

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::ConcaveHull< PointInT >, and pcl::ConvexHull< PointInT >.

Definition at line 76 of file pcl_base.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef pcl::PointCloud<PointInT> pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

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

Definition at line 92 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef PointCloudIn::ConstPtr pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudInConstPtr

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

Definition at line 94 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef PointCloudIn::Ptr pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudInPtr

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

Definition at line 93 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef pcl::PointCloud<PointNT> pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudN

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

Definition at line 88 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef PointCloudN::ConstPtr pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudNConstPtr

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

Definition at line 90 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef PointCloudN::Ptr pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudNPtr

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

Definition at line 89 of file spin_image.h.

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

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

Definition at line 86 of file spin_image.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]
typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::Ptr [inherited]

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

Definition at line 289 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited]

Definition at line 117 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited]

Definition at line 118 of file feature.h.


Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
SpinImageEstimation::SpinImageEstimation ( unsigned int  image_width = 8,
double  support_angle_cos = 0.0,
unsigned int  min_pts_neighb = 0 
)

Constructs empty spin image estimator.

Parameters:
image_width spin-image resolution, number of bins along one dimension
support_angle_cos minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support
min_pts_neighb min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown

Definition at line 57 of file spin_image.hpp.


Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::Feature< PointInT, PointOutT >::compute ( PointCloudOut output  )  [inherited]

Base method for feature estimation 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 containing the estimated features

Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.

Definition at line 249 of file feature.hpp.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices (  )  [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud (  )  [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>
PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::getInputNormals (  )  [inline, inherited]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 312 of file feature.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::getKSearch (  )  [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 166 of file feature.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::getRadiusSearch (  )  [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 177 of file feature.h.

template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod (  )  [inline, inherited]

Get a pointer to the search method used.

Definition at line 152 of file feature.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::getSearchParameter (  )  [inline, inherited]

Get the internal search parameter.

Definition at line 156 of file feature.h.

template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface (  )  [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 142 of file feature.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t  pos  )  [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:
this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]
Parameters:
pos position in indices_ vector

Definition at line 178 of file pcl_base.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors ( size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
index the index of the query point
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 196 of file feature.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors ( const PointCloudIn cloud,
size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
cloud the query point cloud
index the index of the query point in cloud
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 215 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setAngularDomain ( bool  is_angular = true  )  [inline]

Sets/unsets flag for angular spin-image domain.

Angular spin-image differs from the vanilla one in the way that not the points are collected in the bins but the angles between their normals and the normal to the reference point. For further information please see Endres, F., Plagemann, C., Stachniss, C., & Burgard, W. (2009). Unsupervised Discovery of Object Classes from Range Data using Latent Dirichlet Allocation. In Robotics: Science and Systems. Seattle, USA.

Parameters:
is_angular true for angular domain, false for point domain

Definition at line 231 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setImageWidth ( unsigned int  bin_count  )  [inline]

Sets spin-image resolution.

Parameters:
bin_count spin-image resolution, number of bins along one dimension

Definition at line 114 of file spin_image.h.

void pcl::PCLBase< PointInT >::setIndices ( size_t  row_start,
size_t  col_start,
size_t  nb_rows,
size_t  nb_cols 
) [inline, inherited]

Set the indices for the points laying within an interest region of the point cloud.

Note:
you shouldn't call this method on unorganized point clouds!
Parameters:
row_start the offset on rows
col_start the offset on columns
nb_rows the number of rows to be considered row_start included
nb_cols the number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr indices  )  [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indices a pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr indices  )  [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indices a pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr cloud  )  [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:
cloud the const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>
void pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals ( const PointCloudNConstPtr normals  )  [inline, inherited]

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!

Parameters:
normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 308 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setInputRotationAxes ( const PointCloudNConstPtr axes  )  [inline]

Sets array of vectors as rotation axes for input points.

Useful e.g. when one wants to use tangents instead of normals as rotation axes

Parameters:
axes unit-length vectors that serves as rotation axes for the corresponding input points' reference frames

Definition at line 201 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setInputWithNormals ( const PointCloudInConstPtr input,
const PointCloudNConstPtr normals 
) [inline]

Sets input cloud along with corresponding normals.

Note that if no search surface is given explicitly, these points and normals are used to estimate the descriptor

Parameters:
input the cloud that provides the query points where the descriptor is estimated
normals provides normals for input, they should be normalized

Definition at line 157 of file spin_image.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setKSearch ( int  k  )  [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:
k the number of k-nearest neighbors

Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.

Definition at line 162 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setMinPointCountInNeighbourhood ( unsigned int  min_pts_neighb  )  [inline]

Sets minimal points count for spin image computation.

Parameters:
min_pts_neighb min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown

Definition at line 143 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setRadialStructure ( bool  is_radial = true  )  [inline]

Sets/unsets flag for radial spin-image structure.

Instead of rectangular coordinate system for reference frame polar coordinates are used. Binning is done depending on the distance and inclination angle from the reference point

Parameters:
is_radial true for radial spin-image structure, false for rectangular

Definition at line 241 of file spin_image.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double  radius  )  [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters:
radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 173 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setRotationAxis ( const PointNT &  axis  )  [inline]

Sets single vector a rotation axis for all input points.

It could be useful e.g. when the vertical axis is known.

Parameters:
axis unit-length vector that serves as rotation axis for reference frame

Definition at line 187 of file spin_image.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr tree  )  [inline, inherited]

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 148 of file feature.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr cloud  )  [inline, inherited]

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters:
cloud a pointer to a PointCloud message

Definition at line 133 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setSearchSurfaceWithNormals ( const PointCloudInConstPtr surface,
const PointCloudNConstPtr normals 
) [inline]

Sets surface that is used to estimate descriptor.

This method is not mandatory. If it has not been called, the points and normals from setInputWithNormals() are used to estimate the descriptor Calling this method is tantamount to calling setSearchSurface() and setInputNormals() with the same parameters (note that setInputNormals() in fact sets surface normals)

Parameters:
surface search surface used to estimate descriptor
normals provides normals for surface, they should be normalized

Definition at line 174 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setSupportAngle ( double  support_angle_cos  )  [inline]

Sets the maximum angle for the point normal to get to support region.

Parameters:
support_angle_cos minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support

Definition at line 126 of file spin_image.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::useNormalsAsRotationAxis (  )  [inline]

Sets input normals as rotation axes (default setting).

Definition at line 213 of file spin_image.h.


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