CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...

#include <crh.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const CRHEstimation < PointInT, PointNT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < CRHEstimation< PointInT, PointNT, PointOutT > >	Ptr
Public Member Functions
	CRHEstimation ()
	Constructor.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
void	setCentroid (Eigen::Vector4f &centroid)
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
Private Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate the CRH histogram at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface ()
Private Attributes
Eigen::Vector4f	centroid_
	Centroid to be used.
int	nbins_
	Number of bins, this should match the Output type.
float	vpx_
	Values describing the viewpoint ("pinhole" camera model assumed). By default, the viewpoint is set to 0,0,0.
float	vpy_
float	vpz_

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90>>
class pcl::CRHEstimation< PointInT, PointNT, PointOutT >

CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

CAD-Model Recognition and 6 DOF Pose Estimation A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski ICCV 2011, 3D Representation and Recognition (3dRR11) workshop Barcelona, Spain, (2011)

The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)

Author:: Aitor Aldoma

Definition at line 61 of file crh.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

typedef boost::shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

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

Definition at line 65 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

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

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

Definition at line 75 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

typedef boost::shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::Ptr

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

Definition at line 64 of file crh.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

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

Constructor.

Definition at line 78 of file crh.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut & output ) [private, virtual]

Estimate the CRH histogram at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface ()

Parameters:

[out] output the resultant point cloud with a CRH histogram

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 52 of file crh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)		`[inline]`

Get the viewpoint.

Parameters:

[out]	vpx	the X coordinate of the viewpoint
[out]	vpy	the Y coordinate of the viewpoint
[out]	vpz	the Z coordinate of the viewpoint

Definition at line 105 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setCentroid ( Eigen::Vector4f & centroid ) [inline]

Definition at line 113 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)		`[inline]`

Set the viewpoint.

Parameters:

[in]	vpx	the X coordinate of the viewpoint
[in]	vpy	the Y coordinate of the viewpoint
[in]	vpz	the Z coordinate of the viewpoint

Definition at line 92 of file crh.h.

Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

Eigen::Vector4f pcl::CRHEstimation< PointInT, PointNT, PointOutT >::centroid_ [private]

Centroid to be used.

Definition at line 128 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

int pcl::CRHEstimation< PointInT, PointNT, PointOutT >::nbins_ [private]

Number of bins, this should match the Output type.

Definition at line 125 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

float pcl::CRHEstimation< PointInT, PointNT, PointOutT >::vpx_ [private]

Values describing the viewpoint ("pinhole" camera model assumed). By default, the viewpoint is set to 0,0,0.

Definition at line 122 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

float pcl::CRHEstimation< PointInT, PointNT, PointOutT >::vpy_ [private]

Definition at line 122 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

float pcl::CRHEstimation< PointInT, PointNT, PointOutT >::vpz_ [private]

Definition at line 122 of file crh.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90>> class pcl::CRHEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90>>
class pcl::CRHEstimation< PointInT, PointNT, PointOutT >