OURCVFHEstimation estimates the Oriented, Unique and Repetable Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset given XYZ data and normals, as presented in: More...

#include <our_cvfh.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const OURCVFHEstimation < PointInT, PointNT, PointOutT > >	ConstPtr
typedef pcl::search::Search < PointNormal >::Ptr	KdTreePtr
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef pcl::PointCloud < PointInT >::Ptr	PointInTPtr
typedef boost::shared_ptr < OURCVFHEstimation< PointInT, PointNT, PointOutT > >	Ptr
Public Member Functions
void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature.
void	computeRFAndShapeDistribution (PointInTPtr &processed, PointCloudOut &output, std::vector< pcl::PointIndices > &cluster_indices)
	Computes SGURF and the shape distribution based on the selected SGURF.
Eigen::Matrix4f	createTransFromAxes (Eigen::Vector3f &evx, Eigen::Vector3f &evy, Eigen::Vector3f &evz, Eigen::Affine3f &transformPC, Eigen::Matrix4f &center_mat)
	Creates an affine transformation from the RF axes.
void	filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_to_use, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold)
	Removes normals with high curvature caused by real edges or noisy data.
void	getCentroidClusters (std::vector< Eigen::Vector3f > &centroids)
	Get the centroids used to compute different CVFH descriptors.
void	getCentroidNormalClusters (std::vector< Eigen::Vector3f > &centroids)
	Get the normal centroids used to compute different CVFH descriptors.
void	getClusterIndices (std::vector< pcl::PointIndices > &indices)
	Gets the indices of the original point cloud used to compute the signatures.
void	getTransforms (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &trans)
	Returns the transformations aligning the point cloud to the corresponding SGURF.
void	getValidTransformsVec (std::vector< bool > &valid)
	Returns a boolean vector indicating of the transformation obtained by getTransforms() represents a valid SGURF.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
	OURCVFHEstimation ()
	Empty constructor.
void	setAxisRatio (float f)
	Sets the min axis ratio between the SGURF axes to decide if disambiguition is feasible.
void	setClusterTolerance (float d)
	Sets max. Euclidean distance between points to be added to the cluster.
void	setCurvatureThreshold (float d)
	Sets curvature threshold for removing normals.
void	setEPSAngleThreshold (float d)
	Sets max. deviation of the normals between two points so they can be clustered together.
void	setMinAxisValue (float f)
	Sets the min disambiguition axis value to generate several SGURFs for the cluster when disambiguition is difficult.
void	setMinPoints (size_t min)
	Set minimum amount of points for a cluster to be considered.
void	setNormalizeBins (bool normalize)
	Sets wether if the signatures should be normalized or not.
void	setRadiusNormals (float radius_normals)
	Set the radius used to compute normals.
void	setRefineClusters (float rc)
	Sets the refinement factor for the clusters.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
bool	sgurf (Eigen::Vector3f &centroid, Eigen::Vector3f &normal_centroid, PointInTPtr &processed, std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations, PointInTPtr &grid, pcl::PointIndices &indices)
	Computes SGURF.
Protected Attributes
std::vector< Eigen::Vector3f >	centroids_dominant_orientations_
	Centroids that were used to compute different OUR-CVFH descriptors.
std::vector< pcl::PointIndices >	clusters_
	Indices to the points representing the stable clusters.
std::vector< Eigen::Vector3f >	dominant_normals_
	Normal centroids that were used to compute different OUR-CVFH descriptors.
Private Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate the OUR-CVFH descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface ()
void	extractEuclideanClustersSmooth (const pcl::PointCloud< pcl::PointNormal > &cloud, const pcl::PointCloud< pcl::PointNormal > &normals, float tolerance, const pcl::search::Search< pcl::PointNormal >::Ptr &tree, std::vector< pcl::PointIndices > &clusters, double eps_angle, unsigned int min_pts_per_cluster=1, unsigned int max_pts_per_cluster=(std::numeric_limits< int >::max)())
	Region growing method using Euclidean distances and neighbors normals to add points to a region.
Private Attributes
float	axis_ratio_
float	cluster_tolerance_
	allowed Euclidean distance between points to be added to the cluster.
float	curv_threshold_
	Curvature threshold for removing normals.
float	eps_angle_threshold_
	deviation of the normals between two points so they can be clustered together.
float	leaf_size_
	Size of the voxels after voxel gridding. IMPORTANT: Must match the voxel size of the training data or the normalize_bins_ flag must be set to true.
float	min_axis_value_
size_t	min_points_
	Minimum amount of points in a clustered region to be considered stable for CVFH computation.
bool	normalize_bins_
	Wether to normalize the signatures or not. Default: false.
float	radius_normals_
	Radius for the normals computation.
float	refine_clusters_
	Factor for the cluster refinement.
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator < Eigen::Matrix4f > >	transforms_
std::vector< bool >	valid_transforms_
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::VFHSignature308>
class pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >

OURCVFHEstimation estimates the Oriented, Unique and Repetable Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset given XYZ data and normals, as presented in:

OUR-CVFH – Oriented, Unique and Repeatable Clustered Viewpoint Feature Histogram for Object Recognition and 6DOF Pose Estimation A. Aldoma, F. Tombari, R.B. Rusu and M. Vincze DAGM-OAGM 2012 Graz, Austria The suggested PointOutT is pcl::VFHSignature308.

Author:: Aitor Aldoma

Definition at line 62 of file our_cvfh.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

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

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

Definition at line 66 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

typedef pcl::search::Search<PointNormal>::Ptr pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr

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

Definition at line 76 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

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

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

Definition at line 75 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

typedef pcl::PointCloud<PointInT>::Ptr pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::PointInTPtr

Definition at line 77 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

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

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

Definition at line 65 of file our_cvfh.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

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

Empty constructor.

Definition at line 79 of file our_cvfh.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::OURCVFHEstimation< PointInT, PointNT, 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 52 of file our_cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

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

Estimate the OUR-CVFH descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface ()

Parameters:

[out] output the resultant point cloud model dataset that contains the OUR-CVFH feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 525 of file our_cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::computeRFAndShapeDistribution	(	PointInTPtr &	processed,
		PointCloudOut &	output,
		std::vector< pcl::PointIndices > &	cluster_indices
	)

Computes SGURF and the shape distribution based on the selected SGURF.

Parameters:

[in]	processed	the input cloud
[out]	output	the resulting signature
[in]	cluster_indices	the indices of the stable cluster

Definition at line 375 of file our_cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

Eigen::Matrix4f pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::createTransFromAxes	(	Eigen::Vector3f &	evx,
		Eigen::Vector3f &	evy,
		Eigen::Vector3f &	evz,
		Eigen::Affine3f &	transformPC,
		Eigen::Matrix4f &	center_mat
	)		`[inline]`

Creates an affine transformation from the RF axes.

Parameters:

[in]	evx	the x-axis
[in]	evy	the z-axis
[in]	evz	the z-axis
[out]	transformPC	the resulting transformation
[in]	center_mat	4x4 matrix concatenated to the resulting transformation

Definition at line 101 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::extractEuclideanClustersSmooth	(	const pcl::PointCloud< pcl::PointNormal > &	cloud,
		const pcl::PointCloud< pcl::PointNormal > &	normals,
		float	tolerance,
		const pcl::search::Search< pcl::PointNormal >::Ptr &	tree,
		std::vector< pcl::PointIndices > &	clusters,
		double	eps_angle,
		unsigned int	min_pts_per_cluster = `1`,
		unsigned int	max_pts_per_cluster = `(std::numeric_limits<int>::max) ()`
	)		`[private]`

Region growing method using Euclidean distances and neighbors normals to add points to a region.

Parameters:

[in]	cloud	point cloud to split into regions
[in]	normals	are the normals of cloud
[in]	tolerance	is the allowed Euclidean distance between points to be added to the cluster
[in]	tree	is the spatial search structure for nearest neighbour search
[out]	clusters	vector of indices representing the clustered regions
[in]	eps_angle	deviation of the normals between two points so they can be clustered together
[in]	min_pts_per_cluster	minimum cluster size. (default: 1 point)
[in]	max_pts_per_cluster	maximum cluster size. (default: all the points)

Definition at line 75 of file our_cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature	(	const pcl::PointCloud< PointNT > &	cloud,
		std::vector< int > &	indices_to_use,
		std::vector< int > &	indices_out,
		std::vector< int > &	indices_in,
		float	threshold
	)

Removes normals with high curvature caused by real edges or noisy data.

Parameters:

[in]	cloud	pointcloud to be filtered
[out]	indices_out	the indices of the points with higher curvature than threshold
[out]	indices_in	the indices of the remaining points after filtering
[in]	threshold	threshold value for curvature

Definition at line 161 of file our_cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters ( std::vector< Eigen::Vector3f > & centroids ) [inline]

Get the centroids used to compute different CVFH descriptors.

Parameters:

[out] centroids vector to hold the centroids

Definition at line 194 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters ( std::vector< Eigen::Vector3f > & centroids ) [inline]

Get the normal centroids used to compute different CVFH descriptors.

Parameters:

[out] centroids vector to hold the normal centroids

Definition at line 204 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getClusterIndices ( std::vector< pcl::PointIndices > & indices ) [inline]

Gets the indices of the original point cloud used to compute the signatures.

Parameters:

[out] indices vector of point indices

Definition at line 260 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getTransforms ( std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > & trans ) [inline]

Returns the transformations aligning the point cloud to the corresponding SGURF.

Parameters:

[out] trans vector of transformations

Definition at line 278 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::getValidTransformsVec ( std::vector< bool > & valid ) [inline]

Returns a boolean vector indicating of the transformation obtained by getTransforms() represents a valid SGURF.

Parameters:

[out] valid vector of booleans

Definition at line 288 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< 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 183 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setAxisRatio ( float f ) [inline]

Sets the min axis ratio between the SGURF axes to decide if disambiguition is feasible.

Parameters:

[in] f the ratio between axes

Definition at line 297 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance ( float d ) [inline]

Sets max. Euclidean distance between points to be added to the cluster.

Parameters:

[in] d the maximum Euclidean distance

Definition at line 215 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold ( float d ) [inline]

Sets curvature threshold for removing normals.

Parameters:

[in] d the curvature threshold

Definition at line 233 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold ( float d ) [inline]

Sets max. deviation of the normals between two points so they can be clustered together.

Parameters:

[in] d the maximum deviation

Definition at line 224 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setMinAxisValue ( float f ) [inline]

Sets the min disambiguition axis value to generate several SGURFs for the cluster when disambiguition is difficult.

Parameters:

[in] f the min axis value

Definition at line 306 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints ( size_t min ) [inline]

Set minimum amount of points for a cluster to be considered.

Parameters:

[in] min the minimum amount of points to be set

Definition at line 242 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool normalize ) [inline]

Sets wether if the signatures should be normalized or not.

Parameters:

[in] normalize true if normalization is required, false otherwise

Definition at line 251 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals ( float radius_normals ) [inline]

Set the radius used to compute normals.

Parameters:

[in] radius_normals the radius

Definition at line 172 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::setRefineClusters ( float rc ) [inline]

Sets the refinement factor for the clusters.

Parameters:

[in] rc the factor used to decide if a point is used to estimate a stable cluster

Definition at line 269 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::OURCVFHEstimation< 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 161 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::sgurf	(	Eigen::Vector3f &	centroid,
		Eigen::Vector3f &	normal_centroid,
		PointInTPtr &	processed,
		std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &	transformations,
		PointInTPtr &	grid,
		pcl::PointIndices &	indices
	)

Computes SGURF.

Parameters:

[in]	centroid	the centroid of the cluster
[in]	normal_centroid	the average of the normals
[in]	processed	the input cloud
[out]	transformations	the transformations aligning the cloud to the SGURF axes
[out]	grid	the cloud transformed internally
[in]	indices	the indices of the stable cluster

Definition at line 191 of file our_cvfh.hpp.

Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::axis_ratio_ [private]

Definition at line 354 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

std::vector<Eigen::Vector3f> pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_ [protected]

Centroids that were used to compute different OUR-CVFH descriptors.

Definition at line 388 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::cluster_tolerance_ [private]

allowed Euclidean distance between points to be added to the cluster.

Definition at line 335 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

std::vector<pcl::PointIndices> pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::clusters_ [protected]

Indices to the points representing the stable clusters.

Definition at line 392 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::curv_threshold_ [private]

Curvature threshold for removing normals.

Definition at line 332 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

std::vector<Eigen::Vector3f> pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_ [protected]

Normal centroids that were used to compute different OUR-CVFH descriptors.

Definition at line 390 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::eps_angle_threshold_ [private]

deviation of the normals between two points so they can be clustered together.

Definition at line 338 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::leaf_size_ [private]

Size of the voxels after voxel gridding. IMPORTANT: Must match the voxel size of the training data or the normalize_bins_ flag must be set to true.

Definition at line 326 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::min_axis_value_ [private]

Definition at line 355 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

size_t pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::min_points_ [private]

Minimum amount of points in a clustered region to be considered stable for CVFH computation.

Definition at line 343 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

bool pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::normalize_bins_ [private]

Wether to normalize the signatures or not. Default: false.

Definition at line 329 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::radius_normals_ [private]

Radius for the normals computation.

Definition at line 346 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::refine_clusters_ [private]

Factor for the cluster refinement.

Definition at line 349 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::transforms_ [private]

Definition at line 351 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

std::vector<bool> pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::valid_transforms_ [private]

Definition at line 352 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

float pcl::OURCVFHEstimation< 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 321 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

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

Definition at line 321 of file our_cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

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

Definition at line 321 of file our_cvfh.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308> class pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >