vosch_tools.hpp File Reference

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Functions
template<typename T1 , typename T2 >
void	computeNormal (pcl::PointCloud< T1 > input_cloud, pcl::PointCloud< T2 > &output_cloud)
	compute normals
const std::vector< float >	concVector (const std::vector< float > v1, const std::vector< float > v2)
	concatenate
template<typename PointT >
Eigen::Vector3i	extractConVOSCH (pcl::VoxelGrid< PointT > grid, pcl::PointCloud< PointT > cloud, pcl::PointCloud< PointT > cloud_downsampled, std::vector< std::vector< float > > &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size=0, const int offset_x=0, const int offset_y=0, const int offset_z=0, const bool is_normalize)
	ConVOSCH.
template<typename PointT >
void	extractConVOSCH (pcl::VoxelGrid< PointT > grid, pcl::PointCloud< PointT > cloud, pcl::PointCloud< PointT > cloud_downsampled, std::vector< float > &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size=0, const int offset_x=0, const int offset_y=0, const int offset_z=0)
template<typename T >
Eigen::Vector3i	extractGRSDSignature21 (pcl::VoxelGrid< T > grid, pcl::PointCloud< T > cloud, pcl::PointCloud< T > cloud_downsampled, std::vector< std::vector< float > > &feature, const float voxel_size, const int subdivision_size=0, const int offset_x=0, const int offset_y=0, const int offset_z=0, const bool is_normalize)
	extract - GRSD -
template<typename T >
void	extractGRSDSignature21 (pcl::VoxelGrid< T > grid, pcl::PointCloud< T > cloud, pcl::PointCloud< T > cloud_downsampled, std::vector< float > &feature, const float voxel_size, const bool is_normalize)
template<typename T >
Eigen::Vector3i	extractGRSDSignature325 (pcl::VoxelGrid< T > grid, pcl::PointCloud< T > cloud, pcl::PointCloud< T > cloud_downsampled, std::vector< std::vector< float > > &feature, const float voxel_size, const int subdivision_size=0, const int offset_x=0, const int offset_y=0, const int offset_z=0, const bool is_normalize)
	extract - rotation-variant GRSD -
template<typename T >
void	extractGRSDSignature325 (pcl::VoxelGrid< T > grid, pcl::PointCloud< T > cloud, pcl::PointCloud< T > cloud_downsampled, std::vector< float > &feature, const float voxel_size, const bool is_normalize)
template<typename T >
Eigen::Vector3i	extractPlusGRSDSignature110 (pcl::VoxelGrid< T > grid, pcl::PointCloud< T > cloud, pcl::PointCloud< T > cloud_downsampled, std::vector< std::vector< float > > &feature, const float voxel_size, const int subdivision_size=0, const int offset_x=0, const int offset_y=0, const int offset_z=0, const bool is_normalize)
	extract - PlusGRSD -
template<typename T >
void	extractPlusGRSDSignature110 (pcl::VoxelGrid< T > grid, pcl::PointCloud< T > cloud, pcl::PointCloud< T > cloud_downsampled, std::vector< float > &feature, const float voxel_size, const bool is_normalize)
template<typename PointT >
Eigen::Vector3i	extractVOSCH (pcl::VoxelGrid< PointT > grid, pcl::PointCloud< PointT > cloud, pcl::PointCloud< PointT > cloud_downsampled, std::vector< std::vector< float > > &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size=0, const int offset_x=0, const int offset_y=0, const int offset_z=0, const bool is_normalize)
	VOSCH.
template<typename PointT >
void	extractVOSCH (pcl::VoxelGrid< PointT > grid, pcl::PointCloud< PointT > cloud, pcl::PointCloud< PointT > cloud_downsampled, std::vector< float > &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size=0, const int offset_x=0, const int offset_y=0, const int offset_z=0)
int	getType (float min_radius, float max_radius)
	function for GRSD
template<typename T >
bool	readPoints (const char *name, pcl::PointCloud< T > &cloud)
	read

---

Function Documentation

template<typename T1 , typename T2 >

void computeNormal	(	pcl::PointCloud< T1 >	input_cloud,
		pcl::PointCloud< T2 > &	output_cloud
	)

compute normals

Definition at line 18 of file vosch_tools.hpp.

const std::vector<float> concVector	(	const std::vector< float >	v1,
		const std::vector< float >	v2
	)

concatenate

Definition at line 613 of file vosch_tools.hpp.

template<typename PointT >

Eigen::Vector3i extractConVOSCH	(	pcl::VoxelGrid< PointT >	grid,
		pcl::PointCloud< PointT >	cloud,
		pcl::PointCloud< PointT >	cloud_downsampled,
		std::vector< std::vector< float > > &	feature,
		int	color_threshold_r,
		int	color_threshold_g,
		int	color_threshold_b,
		const float	voxel_size,
		const int	subdivision_size = 0,
		const int	offset_x = 0,
		const int	offset_y = 0,
		const int	offset_z = 0,
		const bool	is_normalize
	)

ConVOSCH.

Definition at line 644 of file vosch_tools.hpp.

template<typename PointT >

void extractConVOSCH	(	pcl::VoxelGrid< PointT >	grid,
		pcl::PointCloud< PointT >	cloud,
		pcl::PointCloud< PointT >	cloud_downsampled,
		std::vector< float > &	feature,
		int	color_threshold_r,
		int	color_threshold_g,
		int	color_threshold_b,
		const float	voxel_size,
		const int	subdivision_size = 0,
		const int	offset_x = 0,
		const int	offset_y = 0,
		const int	offset_z = 0
	)

Definition at line 657 of file vosch_tools.hpp.

template<typename T >

Eigen::Vector3i extractGRSDSignature21	(	pcl::VoxelGrid< T >	grid,
		pcl::PointCloud< T >	cloud,
		pcl::PointCloud< T >	cloud_downsampled,
		std::vector< std::vector< float > > &	feature,
		const float	voxel_size,
		const int	subdivision_size = 0,
		const int	offset_x = 0,
		const int	offset_y = 0,
		const int	offset_z = 0,
		const bool	is_normalize
	)

extract - GRSD -

Definition at line 71 of file vosch_tools.hpp.

template<typename T >

void extractGRSDSignature21	(	pcl::VoxelGrid< T >	grid,
		pcl::PointCloud< T >	cloud,
		pcl::PointCloud< T >	cloud_downsampled,
		std::vector< float > &	feature,
		const float	voxel_size,
		const bool	is_normalize
	)

Definition at line 235 of file vosch_tools.hpp.

template<typename T >

Eigen::Vector3i extractGRSDSignature325	(	pcl::VoxelGrid< T >	grid,
		pcl::PointCloud< T >	cloud,
		pcl::PointCloud< T >	cloud_downsampled,
		std::vector< std::vector< float > > &	feature,
		const float	voxel_size,
		const int	subdivision_size = 0,
		const int	offset_x = 0,
		const int	offset_y = 0,
		const int	offset_z = 0,
		const bool	is_normalize
	)

extract - rotation-variant GRSD -

Definition at line 244 of file vosch_tools.hpp.

template<typename T >

void extractGRSDSignature325	(	pcl::VoxelGrid< T >	grid,
		pcl::PointCloud< T >	cloud,
		pcl::PointCloud< T >	cloud_downsampled,
		std::vector< float > &	feature,
		const float	voxel_size,
		const bool	is_normalize
	)

Definition at line 390 of file vosch_tools.hpp.

template<typename T >

Eigen::Vector3i extractPlusGRSDSignature110	(	pcl::VoxelGrid< T >	grid,
		pcl::PointCloud< T >	cloud,
		pcl::PointCloud< T >	cloud_downsampled,
		std::vector< std::vector< float > > &	feature,
		const float	voxel_size,
		const int	subdivision_size = 0,
		const int	offset_x = 0,
		const int	offset_y = 0,
		const int	offset_z = 0,
		const bool	is_normalize
	)

extract - PlusGRSD -

Definition at line 399 of file vosch_tools.hpp.

template<typename T >

void extractPlusGRSDSignature110	(	pcl::VoxelGrid< T >	grid,
		pcl::PointCloud< T >	cloud,
		pcl::PointCloud< T >	cloud_downsampled,
		std::vector< float > &	feature,
		const float	voxel_size,
		const bool	is_normalize
	)

Definition at line 605 of file vosch_tools.hpp.

template<typename PointT >

Eigen::Vector3i extractVOSCH	(	pcl::VoxelGrid< PointT >	grid,
		pcl::PointCloud< PointT >	cloud,
		pcl::PointCloud< PointT >	cloud_downsampled,
		std::vector< std::vector< float > > &	feature,
		int	color_threshold_r,
		int	color_threshold_g,
		int	color_threshold_b,
		const float	voxel_size,
		const int	subdivision_size = 0,
		const int	offset_x = 0,
		const int	offset_y = 0,
		const int	offset_z = 0,
		const bool	is_normalize
	)

VOSCH.

Definition at line 622 of file vosch_tools.hpp.

template<typename PointT >

void extractVOSCH	(	pcl::VoxelGrid< PointT >	grid,
		pcl::PointCloud< PointT >	cloud,
		pcl::PointCloud< PointT >	cloud_downsampled,
		std::vector< float > &	feature,
		int	color_threshold_r,
		int	color_threshold_g,
		int	color_threshold_b,
		const float	voxel_size,
		const int	subdivision_size = 0,
		const int	offset_x = 0,
		const int	offset_y = 0,
		const int	offset_z = 0
	)

Definition at line 635 of file vosch_tools.hpp.

int getType	(	float	min_radius,
		float	max_radius
	)

function for GRSD

Definition at line 44 of file vosch_tools.hpp.

template<typename T >

bool readPoints	(	const char *	name,
		pcl::PointCloud< T > &	cloud
	)

read

Definition at line 4 of file vosch_tools.hpp.