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

#include <pfhrgb.h>

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

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
void	computePointPFHRGBSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
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)
	PFHRGBEstimation ()
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Abstract feature estimation method.
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.
Private Attributes
float	d_pi_
	Float constant = 1.0 / (2.0 * M_PI)
int	f_index_ [7]
	Placeholder for a histogram index.
int	nr_subdiv_
	The number of subdivisions for each angular feature interval.
Eigen::VectorXf	pfhrgb_histogram_
	Placeholder for a point's PFHRGB signature.
Eigen::VectorXf	pfhrgb_tuple_
	Placeholder for a PFHRGB 7-tuple.

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Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
class pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >

Definition at line 52 of file pfhrgb.h.

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Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 61 of file pfhrgb.h.

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Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PFHRGBEstimation

(

)

[inline]

Definition at line 64 of file pfhrgb.h.

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Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computeFeature

(

PointCloudOut &

output

)

[protected, virtual]

Abstract feature estimation method.

Parameters:

[out]

output

the resultant features

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

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 141 of file pfhrgb.hpp.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

void pcl::PFHRGBEstimation< PointInT, PointNT, 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 103 of file pfhrgb.h.

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 62 of file pfhrgb.hpp.

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 45 of file pfhrgb.hpp.

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Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

float pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::d_pi_ [private]

Float constant = 1.0 / (2.0 * M_PI)

Definition at line 97 of file pfhrgb.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

int pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::f_index_[7] [private]

Placeholder for a histogram index.

Definition at line 94 of file pfhrgb.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

int pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::nr_subdiv_ [private]

The number of subdivisions for each angular feature interval.

Definition at line 85 of file pfhrgb.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

Eigen::VectorXf pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::pfhrgb_histogram_ [private]

Placeholder for a point's PFHRGB signature.

Definition at line 88 of file pfhrgb.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>

Eigen::VectorXf pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::pfhrgb_tuple_ [private]

Placeholder for a PFHRGB 7-tuple.

Definition at line 91 of file pfhrgb.h.

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

• pfhrgb.h
• pfhrgb.hpp