pcl::PPFEstimation< PointInT, PointNT, Eigen::MatrixXf > Class Template Reference

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>

Inheritance diagram for pcl::PPFEstimation< PointInT, PointNT, Eigen::MatrixXf >:

List of all members.

Private Member Functions
void	compute (pcl::PointCloud< pcl::Normal > &)
	Make the compute (&PointCloudOut); inaccessible from outside the class.
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &output)
	The method called for actually doing the computations.

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Detailed Description

template<typename PointInT, typename PointNT>
class pcl::PPFEstimation< PointInT, PointNT, Eigen::MatrixXf >

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)

Author:

Alexandru-Eugen Ichim

Definition at line 122 of file ppf.h.

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Member Function Documentation

template<typename PointInT , typename PointNT >

void pcl::PPFEstimation< PointInT, PointNT, Eigen::MatrixXf >::compute

(

pcl::PointCloud< pcl::Normal > &

)

[inline, private]

Make the compute (&PointCloudOut); inaccessible from outside the class.

Parameters:

[out]

output

the output point cloud

Definition at line 143 of file ppf.h.

template<typename PointInT , typename PointNT >

void pcl::PPFEstimation< PointInT, PointNT, Eigen::MatrixXf >::computeFeatureEigen

(

pcl::PointCloud< Eigen::MatrixXf > &

output

)

[private, virtual]

The method called for actually doing the computations.

Parameters:

[out]

output

the resulting point cloud its size is the size of the input cloud, squared (i.e., one point for each pair in the input cloud);

Reimplemented from pcl::PPFEstimation< PointInT, PointNT, pcl::PPFSignature >.

Definition at line 119 of file ppf.hpp.

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

• ppf.h
• ppf.hpp