ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points. Shape functions are D2, D3, A3. For more information about the ESF descriptor, see: Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011 More...

#include <esf.h>

Inheritance diagram for pcl::ESFEstimation< PointInT, PointOutT >:

[legend]

List of all members.

Public Types
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature.
	ESFEstimation ()
	Empty constructor.
Protected Member Functions
void	cleanup9 (PointCloudIn &cluster)
	...
void	computeESF (PointCloudIn &pc, std::vector< float > &hist)
	...
void	computeFeature (PointCloudOut &output)
	Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.
int	lci (const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
	...
void	scale_points_unit_sphere (const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)
	...
void	voxelize9 (PointCloudIn &cluster)
	...
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.
Private Attributes
PointCloudIn	local_cloud_
	...
std::vector< std::vector < std::vector< int > > >	lut_
	...

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points. Shape functions are D2, D3, A3. For more information about the ESF descriptor, see: Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011

Author:: Walter Wohlkinger

Definition at line 60 of file esf.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

typedef pcl::PointCloud<PointInT> pcl::ESFEstimation< PointInT, PointOutT >::PointCloudIn

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

Definition at line 71 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::ESFEstimation< PointInT, PointOutT >::PointCloudOut

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

Definition at line 72 of file esf.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation ( ) [inline]

Empty constructor.

Definition at line 75 of file esf.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::cleanup9 ( PointCloudIn & cluster ) [protected]

...

Definition at line 460 of file esf.hpp.

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::compute ( PointCloudOut & output )

Overloaded computed method from pcl::Feature.

Parameters:

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

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

Definition at line 514 of file esf.hpp.

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::computeESF	(	PointCloudIn &	pc,
		std::vector< float > &	hist
	)		`[protected]`

...

Definition at line 51 of file esf.hpp.

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output ) [protected, virtual]

Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.

Parameters:

output the resultant point cloud model histogram that contains the ESF feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 542 of file esf.hpp.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

void pcl::ESFEstimation< PointInT, PointOutT >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 140 of file esf.h.

template<typename PointInT , typename PointOutT >

int pcl::ESFEstimation< PointInT, PointOutT >::lci	(	const int	x1,
		const int	y1,
		const int	z1,
		const int	x2,
		const int	y2,
		const int	z2,
		float &	ratio,
		int &	incnt,
		int &	pointcount
	)		`[protected]`

...

Definition at line 312 of file esf.hpp.

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::scale_points_unit_sphere	(	const pcl::PointCloud< PointInT > &	pc,
		float	scalefactor,
		Eigen::Vector4f &	centroid
	)		`[protected]`

...

Definition at line 489 of file esf.hpp.

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::voxelize9 ( PointCloudIn & cluster ) [protected]

...

Definition at line 431 of file esf.hpp.

Member Data Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

PointCloudIn pcl::ESFEstimation< PointInT, PointOutT >::local_cloud_ [private]

...

Definition at line 134 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

std::vector<std::vector<std::vector<int> > > pcl::ESFEstimation< PointInT, PointOutT >::lut_ [private]

...

Definition at line 131 of file esf.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ESFSignature640> class pcl::ESFEstimation< PointInT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >