Point Cloud Library (PCL)  1.7.0
List of all members | Public Types | Public Member Functions
pcl::CRHEstimation< PointInT, PointNT, PointOutT > Class Template Reference

CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...

#include <pcl/features/crh.h>

+ Inheritance diagram for pcl::CRHEstimation< PointInT, PointNT, PointOutT >:

Public Types

typedef boost::shared_ptr
< CRHEstimation< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const CRHEstimation
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
typedef pcl::PointCloud< PointNT > PointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT > BaseClass
 
typedef boost::shared_ptr
< Feature< PointInT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const Feature< PointInT,
PointOutT > > 
ConstPtr
 
typedef pcl::search::Search
< PointInT > 
KdTree
 
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud
< PointOutT > 
PointCloudOut
 
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
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 CRHEstimation ()
 Constructor. More...
 
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint. More...
 
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint. More...
 
void setCentroid (Eigen::Vector4f &centroid)
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
 FeatureFromNormals ()
 Empty constructor. More...
 
virtual ~FeatureFromNormals ()
 Empty destructor. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. More...
 
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. More...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
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 () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90>>
class pcl::CRHEstimation< PointInT, PointNT, PointOutT >

CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)

Author
Aitor Aldoma

Definition at line 61 of file crh.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
typedef boost::shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 65 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CRHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 75 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
typedef boost::shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 64 of file crh.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation ( )
inline

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
)
inline

Get the viewpoint.

Parameters
[out]vpxthe X coordinate of the viewpoint
[out]vpythe Y coordinate of the viewpoint
[out]vpzthe Z coordinate of the viewpoint

Definition at line 105 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setCentroid ( Eigen::Vector4f &  centroid)
inline

Definition at line 113 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
)
inline

Set the viewpoint.

Parameters
[in]vpxthe X coordinate of the viewpoint
[in]vpythe Y coordinate of the viewpoint
[in]vpzthe Z coordinate of the viewpoint

Definition at line 92 of file crh.h.


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