pcl::MomentInvariantsEstimation< PointInT, PointOutT > Class Template Reference

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...

#include <moment_invariants.h>

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

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
	MomentInvariantsEstimation ()
	Empty constructor.
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.
Private Attributes
Eigen::Vector4f	temp_pt_
	Internal data vector.
Eigen::Vector4f	xyz_centroid_
	16-bytes aligned placeholder for the XYZ centroid of a surface patch.

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Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::MomentInvariantsEstimation< PointInT, PointOutT >

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.

Note:

The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOMP for an example on how to extend this to parallel implementations.

Author:

Radu B. Rusu

Definition at line 55 of file moment_invariants.h.

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Member Typedef Documentation

template<typename PointInT, typename PointOutT>

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

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

Definition at line 66 of file moment_invariants.h.

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Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::MomentInvariantsEstimation< PointInT, PointOutT >::MomentInvariantsEstimation

(

)

[inline]

Empty constructor.

Definition at line 69 of file moment_invariants.h.

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Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computeFeature

(

PointCloudOut &

output

)

[protected, virtual]

Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

[out]

output

the resultant point cloud model dataset that contains the moment invariants

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 114 of file moment_invariants.hpp.

template<typename PointInT, typename PointOutT>

void pcl::MomentInvariantsEstimation< 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 >.

Reimplemented in pcl::MomentInvariantsEstimation< PointInT, Eigen::MatrixXf >.

Definition at line 116 of file moment_invariants.h.

template<typename PointInT, typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		const std::vector< int > &	indices,
		float &	j1,
		float &	j2,
		float &	j3
	)

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:

[in]	cloud	the input point cloud
[in]	indices	the point cloud indices that need to be used
[out]	j1	the resultant first moment invariant
[out]	j2	the resultant second moment invariant
[out]	j3	the resultant third moment invariant

Definition at line 47 of file moment_invariants.hpp.

template<typename PointInT, typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		float &	j1,
		float &	j2,
		float &	j3
	)

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:

[in]	cloud	the input point cloud
[out]	j1	the resultant first moment invariant
[out]	j2	the resultant second moment invariant
[out]	j3	the resultant third moment invariant

Definition at line 81 of file moment_invariants.hpp.

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Member Data Documentation

template<typename PointInT, typename PointOutT>

Eigen::Vector4f pcl::MomentInvariantsEstimation< PointInT, PointOutT >::temp_pt_ [private]

Internal data vector.

Definition at line 110 of file moment_invariants.h.

template<typename PointInT, typename PointOutT>

Eigen::Vector4f pcl::MomentInvariantsEstimation< PointInT, PointOutT >::xyz_centroid_ [private]

16-bytes aligned placeholder for the XYZ centroid of a surface patch.

Definition at line 107 of file moment_invariants.h.

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

• moment_invariants.h
• moment_invariants.hpp