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

#include <pcl/features/pfhrgb.h>

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

Public Types

typedef boost::shared_ptr
< PFHRGBEstimation< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const PFHRGBEstimation
< 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

 PFHRGBEstimation ()
 
bool computeRGBPairFeatures (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7)
 
void computePointPFHRGBSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
 
- 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...
 

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Abstract feature estimation method. More...
 
- 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 Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
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. More...
 
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. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Additional Inherited Members

- 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::PFHRGBSignature250>
class pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >

Definition at line 49 of file pfhrgb.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
typedef boost::shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> > pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 53 of file pfhrgb.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 60 of file pfhrgb.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
typedef boost::shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> > pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 52 of file pfhrgb.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PFHRGBEstimation ( )
inline

Definition at line 63 of file pfhrgb.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output)
protectedvirtual

Abstract feature estimation method.

Parameters
[out]outputthe resultant features

nr_subdiv^3 for RGB and nr_subdiv^3 for the angular features

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 143 of file pfhrgb.hpp.

References pcl::PointCloud< T >::points.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computePointPFHRGBSignature ( const pcl::PointCloud< PointInT > &  cloud,
const pcl::PointCloud< PointNT > &  normals,
const std::vector< int > &  indices,
int  nr_split,
Eigen::VectorXf &  pfhrgb_histogram 
)

Definition at line 64 of file pfhrgb.hpp.

References pcl::computeRGBPairFeatures().

template<typename PointInT , typename PointNT , typename PointOutT >
bool pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computeRGBPairFeatures ( const pcl::PointCloud< PointInT > &  cloud,
const pcl::PointCloud< PointNT > &  normals,
int  p_idx,
int  q_idx,
float &  f1,
float &  f2,
float &  f3,
float &  f4,
float &  f5,
float &  f6,
float &  f7 
)

Definition at line 47 of file pfhrgb.hpp.

References pcl::computeRGBPairFeatures(), and pcl::PointCloud< T >::points.


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