Class that calculates the "surflet" features for each pair in the given pointcloud. Please refer to the following publication for more details: B. Drost, M. Ulrich, N. Navab, S. Ilic Model Globally, Match Locally: Efficient and Robust 3D Object Recognition 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 13-18 June 2010, San Francisco, CA. More...
#include <ppf.h>
Public Types | |
| typedef pcl::PointCloud < PointOutT > | PointCloudOut |
Public Member Functions | |
| PPFEstimation () | |
| Empty Constructor. | |
Private Member Functions | |
| void | computeFeature (PointCloudOut &output) |
| The method called for actually doing the computations. | |
| void | computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &) |
| Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class. | |
Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::PPFEstimation< PointInT, PointNT, PointOutT >
Class that calculates the "surflet" features for each pair in the given pointcloud. Please refer to the following publication for more details: B. Drost, M. Ulrich, N. Navab, S. Ilic Model Globally, Match Locally: Efficient and Robust 3D Object Recognition 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 13-18 June 2010, San Francisco, CA.
PointOutT is meant to be pcl::PPFSignature - contains the 4 values of the Surflet feature and in addition, alpha_m for the respective pair - optimization proposed by the authors (see above)
Member Typedef Documentation
| typedef pcl::PointCloud<PointOutT> pcl::PPFEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
Constructor & Destructor Documentation
| pcl::PPFEstimation< PointInT, PointNT, PointOutT >::PPFEstimation | ( | ) |
Member Function Documentation
| void pcl::PPFEstimation< PointInT, PointNT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [private, virtual] |
The method called for actually doing the computations.
- Parameters:
-
[out] output the resulting point cloud (which should be of type pcl::PPFSignature); its size is the size of the input cloud, squared (i.e., one point for each pair in the input cloud);
Implements pcl::Feature< PointInT, PointOutT >.
| void pcl::PPFEstimation< 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 >.
Reimplemented in pcl::PPFEstimation< PointInT, PointNT, Eigen::MatrixXf >.
The documentation for this class was generated from the following files: