Public Types | Public Member Functions | Protected Member Functions | Private Attributes
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 >:
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List of all members.

Public Types

typedef boost::shared_ptr
< const
MomentInvariantsEstimation
< PointInT, PointOutT > > 
ConstPtr
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef boost::shared_ptr
< MomentInvariantsEstimation
< PointInT, PointOutT > > 
Ptr

Public Member Functions

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.
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.
 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.

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 NormalEstimationOMP for an example on how to extend this to parallel implementations.
Author:
Radu B. Rusu

Definition at line 56 of file moment_invariants.h.


Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> > pcl::MomentInvariantsEstimation< PointInT, PointOutT >::ConstPtr

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

Definition at line 60 of file moment_invariants.h.

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

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

Definition at line 69 of file moment_invariants.h.

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> > pcl::MomentInvariantsEstimation< PointInT, PointOutT >::Ptr

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

Definition at line 59 of file moment_invariants.h.


Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>
pcl::MomentInvariantsEstimation< PointInT, PointOutT >::MomentInvariantsEstimation ( ) [inline]

Empty constructor.

Definition at line 72 of file moment_invariants.h.


Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut output) [protected, virtual]

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

Parameters:
[out]outputthe resultant point cloud model dataset that contains the moment invariants

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 116 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 
)

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

Parameters:
[in]cloudthe input point cloud
[in]indicesthe point cloud indices that need to be used
[out]j1the resultant first moment invariant
[out]j2the resultant second moment invariant
[out]j3the resultant third moment invariant

Definition at line 49 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 
)

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

Parameters:
[in]cloudthe input point cloud
[out]j1the resultant first moment invariant
[out]j2the resultant second moment invariant
[out]j3the resultant third moment invariant

Definition at line 83 of file moment_invariants.hpp.


Member Data Documentation

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

Internal data vector.

Definition at line 113 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 110 of file moment_invariants.h.


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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:42:16