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pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT > Class Template Reference

OURCVFHEstimation estimates the Oriented, Unique and Repetable Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset given XYZ data and normals, as presented in: More...

#include <pcl/features/our_cvfh.h>

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

Public Types

typedef boost::shared_ptr
< OURCVFHEstimation< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const OURCVFHEstimation
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
typedef pcl::search::Search
< PointNormal >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud
< PointInT >::Ptr 
PointInTPtr
 
- 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

 OURCVFHEstimation ()
 Empty constructor. More...
 
Eigen::Matrix4f createTransFromAxes (Eigen::Vector3f &evx, Eigen::Vector3f &evy, Eigen::Vector3f &evz, Eigen::Affine3f &transformPC, Eigen::Matrix4f &center_mat)
 Creates an affine transformation from the RF axes. More...
 
void computeRFAndShapeDistribution (PointInTPtr &processed, PointCloudOut &output, std::vector< pcl::PointIndices > &cluster_indices)
 Computes SGURF and the shape distribution based on the selected SGURF. More...
 
bool sgurf (Eigen::Vector3f &centroid, Eigen::Vector3f &normal_centroid, PointInTPtr &processed, std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations, PointInTPtr &grid, pcl::PointIndices &indices)
 Computes SGURF. More...
 
void filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_to_use, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold)
 Removes normals with high curvature caused by real edges or noisy data. More...
 
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint. More...
 
void setRadiusNormals (float radius_normals)
 Set the radius used to compute normals. More...
 
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint. More...
 
void getCentroidClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
 Get the centroids used to compute different CVFH descriptors. More...
 
void getCentroidNormalClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
 Get the normal centroids used to compute different CVFH descriptors. More...
 
void setClusterTolerance (float d)
 Sets max. More...
 
void setEPSAngleThreshold (float d)
 Sets max. More...
 
void setCurvatureThreshold (float d)
 Sets curvature threshold for removing normals. More...
 
void setMinPoints (size_t min)
 Set minimum amount of points for a cluster to be considered. More...
 
void setNormalizeBins (bool normalize)
 Sets whether the signatures should be normalized or not. More...
 
void getClusterIndices (std::vector< pcl::PointIndices > &indices)
 Gets the indices of the original point cloud used to compute the signatures. More...
 
void getClusterAxes (std::vector< short > &cluster_axes)
 Gets the number of non-disambiguable axes that correspond to each centroid. More...
 
void setRefineClusters (float rc)
 Sets the refinement factor for the clusters. More...
 
void getTransforms (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &trans)
 Returns the transformations aligning the point cloud to the corresponding SGURF. More...
 
void getValidTransformsVec (std::vector< bool > &valid)
 Returns a boolean vector indicating of the transformation obtained by getTransforms() represents a valid SGURF. More...
 
void setAxisRatio (float f)
 Sets the min axis ratio between the SGURF axes to decide if disambiguition is feasible. More...
 
void setMinAxisValue (float f)
 Sets the min disambiguition axis value to generate several SGURFs for the cluster when disambiguition is difficult. More...
 
void compute (PointCloudOut &output)
 Overloaded computed method from pcl::Feature. More...
 
- 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 () const
 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...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Attributes

std::vector< Eigen::Vector3f,
Eigen::aligned_allocator
< Eigen::Vector3f > > 
centroids_dominant_orientations_
 Centroids that were used to compute different OUR-CVFH descriptors. More...
 
std::vector< Eigen::Vector3f,
Eigen::aligned_allocator
< Eigen::Vector3f > > 
dominant_normals_
 Normal centroids that were used to compute different OUR-CVFH descriptors. More...
 
std::vector< pcl::PointIndicesclusters_
 Indices to the points representing the stable clusters. More...
 
std::vector< short > cluster_axes_
 Mapping from clusters to OUR-CVFH descriptors. 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...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. 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 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...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >

OURCVFHEstimation estimates the Oriented, Unique and Repetable Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset given XYZ data and normals, as presented in:

Author
Aitor Aldoma

Definition at line 62 of file our_cvfh.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef boost::shared_ptr<const OURCVFHEstimation<PointInT, PointNT, PointOutT> > pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 66 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef pcl::search::Search<PointNormal>::Ptr pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr

Definition at line 76 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 75 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef pcl::PointCloud<PointInT>::Ptr pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::PointInTPtr

Definition at line 77 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef boost::shared_ptr<OURCVFHEstimation<PointInT, PointNT, PointOutT> > pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 65 of file our_cvfh.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation ( )
inline

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::compute ( PointCloudOut output)

Overloaded computed method from pcl::Feature.

Parameters
[out]outputthe resultant point cloud model dataset containing the estimated features

Definition at line 52 of file our_cvfh.hpp.

References pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::computeRFAndShapeDistribution ( PointInTPtr processed,
PointCloudOut output,
std::vector< pcl::PointIndices > &  cluster_indices 
)

Computes SGURF and the shape distribution based on the selected SGURF.

Parameters
[in]processedthe input cloud
[out]outputthe resulting signature
[in]cluster_indicesthe indices of the stable cluster

Definition at line 375 of file our_cvfh.hpp.

References pcl::PointCloud< T >::clear(), pcl::getMaxDistance(), pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, pcl::transformPointCloud(), and pcl::PointCloud< T >::width.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
Eigen::Matrix4f pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::createTransFromAxes ( Eigen::Vector3f &  evx,
Eigen::Vector3f &  evy,
Eigen::Vector3f &  evz,
Eigen::Affine3f &  transformPC,
Eigen::Matrix4f &  center_mat 
)
inline

Creates an affine transformation from the RF axes.

Parameters
[in]evxthe x-axis
[in]evythe y-axis
[in]evzthe z-axis
[out]transformPCthe resulting transformation
[in]center_mat4x4 matrix concatenated to the resulting transformation

Definition at line 101 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature ( const pcl::PointCloud< PointNT > &  cloud,
std::vector< int > &  indices_to_use,
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
[in]cloudpointcloud to be filtered
[in]indices_to_use
[out]indices_outthe indices of the points with higher curvature than threshold
[out]indices_inthe indices of the remaining points after filtering
[in]thresholdthreshold value for curvature

Definition at line 161 of file our_cvfh.hpp.

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

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &  centroids)
inline

Get the centroids used to compute different CVFH descriptors.

Parameters
[out]centroidsvector to hold the centroids

Definition at line 195 of file our_cvfh.h.

References pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &  centroids)
inline

Get the normal centroids used to compute different CVFH descriptors.

Parameters
[out]centroidsvector to hold the normal centroids

Definition at line 205 of file our_cvfh.h.

References pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getClusterAxes ( std::vector< short > &  cluster_axes)
inline

Gets the number of non-disambiguable axes that correspond to each centroid.

Parameters
[out]cluster_axesvector mapping each centroid to the number of signatures

Definition at line 270 of file our_cvfh.h.

References pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::cluster_axes_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getClusterIndices ( std::vector< pcl::PointIndices > &  indices)
inline

Gets the indices of the original point cloud used to compute the signatures.

Parameters
[out]indicesvector of point indices

Definition at line 261 of file our_cvfh.h.

References pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::clusters_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getTransforms ( std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &  trans)
inline

Returns the transformations aligning the point cloud to the corresponding SGURF.

Parameters
[out]transvector of transformations

Definition at line 288 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getValidTransformsVec ( std::vector< bool > &  valid)
inline

Returns a boolean vector indicating of the transformation obtained by getTransforms() represents a valid SGURF.

Parameters
[out]validvector of booleans

Definition at line 298 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< 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 184 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setAxisRatio ( float  f)
inline

Sets the min axis ratio between the SGURF axes to decide if disambiguition is feasible.

Parameters
[in]fthe ratio between axes

Definition at line 307 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance ( float  d)
inline

Sets max.

Euclidean distance between points to be added to the cluster

Parameters
[in]dthe maximum Euclidean distance

Definition at line 216 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold ( float  d)
inline

Sets curvature threshold for removing normals.

Parameters
[in]dthe curvature threshold

Definition at line 234 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold ( float  d)
inline

Sets max.

deviation of the normals between two points so they can be clustered together

Parameters
[in]dthe maximum deviation

Definition at line 225 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setMinAxisValue ( float  f)
inline

Sets the min disambiguition axis value to generate several SGURFs for the cluster when disambiguition is difficult.

Parameters
[in]fthe min axis value

Definition at line 316 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints ( size_t  min)
inline

Set minimum amount of points for a cluster to be considered.

Parameters
[in]minthe minimum amount of points to be set

Definition at line 243 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool  normalize)
inline

Sets whether the signatures should be normalized or not.

Parameters
[in]normalizetrue if normalization is required, false otherwise

Definition at line 252 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals ( float  radius_normals)
inline

Set the radius used to compute normals.

Parameters
[in]radius_normalsthe radius

Definition at line 173 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setRefineClusters ( float  rc)
inline

Sets the refinement factor for the clusters.

Parameters
[in]rcthe factor used to decide if a point is used to estimate a stable cluster

Definition at line 279 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::OURCVFHEstimation< 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 162 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
bool pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::sgurf ( Eigen::Vector3f &  centroid,
Eigen::Vector3f &  normal_centroid,
PointInTPtr processed,
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &  transformations,
PointInTPtr grid,
pcl::PointIndices indices 
)

Computes SGURF.

Parameters
[in]centroidthe centroid of the cluster
[in]normal_centroidthe average of the normals
[in]processedthe input cloud
[out]transformationsthe transformations aligning the cloud to the SGURF axes
[out]gridthe cloud transformed internally
[in]indicesthe indices of the stable cluster

Definition at line 191 of file our_cvfh.hpp.

References pcl::demeanPointCloud(), pcl::getMaxDistance(), pcl::PointIndices::indices, and pcl::transformPointCloud().

Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_
protected

Centroids that were used to compute different OUR-CVFH descriptors.

Definition at line 398 of file our_cvfh.h.

Referenced by pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<short> pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::cluster_axes_
protected

Mapping from clusters to OUR-CVFH descriptors.

Definition at line 404 of file our_cvfh.h.

Referenced by pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getClusterAxes().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<pcl::PointIndices> pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::clusters_
protected

Indices to the points representing the stable clusters.

Definition at line 402 of file our_cvfh.h.

Referenced by pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getClusterIndices().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_
protected

Normal centroids that were used to compute different OUR-CVFH descriptors.

Definition at line 400 of file our_cvfh.h.

Referenced by pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters().


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