pcl::MomentInvariantsEstimation< PointInT, PointOutT > Class Template Reference

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...

#include <moment_invariants.h>

Inheritance diagram for pcl::MomentInvariantsEstimation< PointInT, PointOutT >:

[legend]

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
	MomentInvariantsEstimation ()
	Empty constructor.
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
Private Attributes
Eigen::Vector4f	temp_pt_
	Internal data vector.
Eigen::Vector4f	xyz_centroid_
	16-bytes aligned placeholder for the XYZ centroid of a surface patch.

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Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::MomentInvariantsEstimation< PointInT, PointOutT >

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.

Note:

The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOpenMP and NormalEstimationTBB for examples on how to extend this to parallel implementations.

Author:

Radu Bogdan Rusu

Definition at line 53 of file moment_invariants.h.

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Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::MomentInvariantsEstimation< PointInT, PointOutT >::PointCloudOut

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

Definition at line 63 of file moment_invariants.h.

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Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::MomentInvariantsEstimation< PointInT, PointOutT >::MomentInvariantsEstimation

(

)

[inline]

Empty constructor.

Definition at line 67 of file moment_invariants.h.

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Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computeFeature

(

PointCloudOut &

output

)

[inline, protected, virtual]

Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters:

output

the resultant point cloud model dataset that contains the moment invariants

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 112 of file moment_invariants.hpp.

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		float &	j1,
		float &	j2,
		float &	j3
	)			[inline]

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:

	cloud	the input point cloud
	j1	the resultant first moment invariant
	j2	the resultant second moment invariant
	j3	the resultant third moment invariant

Definition at line 79 of file moment_invariants.hpp.

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		const std::vector< int > &	indices,
		float &	j1,
		float &	j2,
		float &	j3
	)			[inline]

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:

	cloud	the input point cloud
	indices	the point cloud indices that need to be used
	j1	the resultant first moment invariant
	j2	the resultant second moment invariant
	j3	the resultant third moment invariant

Definition at line 45 of file moment_invariants.hpp.

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Member Data Documentation

template<typename PointInT, typename PointOutT>

Eigen::Vector4f pcl::MomentInvariantsEstimation< PointInT, PointOutT >::temp_pt_ [private]

Internal data vector.

Definition at line 105 of file moment_invariants.h.

template<typename PointInT, typename PointOutT>

Eigen::Vector4f pcl::MomentInvariantsEstimation< PointInT, PointOutT >::xyz_centroid_ [private]

16-bytes aligned placeholder for the XYZ centroid of a surface patch.

Definition at line 102 of file moment_invariants.h.

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

• moment_invariants.h
• moment_invariants.hpp