Class that calculates the "surflet" features for each pair in the given pointcloud. More...
#include <pcl/features/ppf.h>
Inheritance diagram for pcl::PPFEstimation< PointInT, PointNT, PointOutT >:
Public Types | |
| typedef boost::shared_ptr < PPFEstimation< PointInT, PointNT, PointOutT > > | Ptr |
| typedef boost::shared_ptr < const PPFEstimation < PointInT, PointNT, PointOutT > > | ConstPtr |
| typedef pcl::PointCloud < PointOutT > | PointCloudOut |
| Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT > | |
| typedef pcl::PointCloud< PointNT > | PointCloudN |
| typedef PointCloudN::Ptr | PointCloudNPtr |
| typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
| typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, PointOutT > > | Ptr |
| typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, PointOutT > > | ConstPtr |
| Public Types inherited from pcl::Feature< PointInT, PointOutT > | |
| typedef PCLBase< PointInT > | BaseClass |
| typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
| typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
| typedef pcl::search::Search < PointInT > | KdTree |
| typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef pcl::PointCloud < PointOutT > | PointCloudOut |
| typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
| typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)> | SearchMethodSurface |
| Public Types inherited from pcl::PCLBase< PointInT > | |
| typedef pcl::PointCloud< PointInT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
| typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
| PPFEstimation () | |
| Empty Constructor. | |
| Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT > | |
| FeatureFromNormals () | |
| Empty constructor. | |
| virtual | ~FeatureFromNormals () |
| Empty destructor. | |
| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. | |
| Public Member Functions inherited from pcl::Feature< PointInT, PointOutT > | |
| Feature () | |
| Empty constructor. | |
| virtual | ~Feature () |
| Empty destructor. | |
| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. | |
| double | getSearchParameter () const |
| Get the internal search parameter. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. | |
| void | compute (PointCloudOut &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| Public Member Functions inherited from pcl::PCLBase< PointInT > | |
| PCLBase () | |
| Empty constructor. | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. | |
| virtual | ~PCLBase () |
| Destructor. | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. | |
| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. | |
| const PointInT & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT > | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. | |
| Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT > | |
| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. | |
Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::PPFEstimation< PointInT, PointNT, PointOutT >
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)
Member Typedef Documentation
template<typename PointInT , typename PointNT , typename PointOutT >
| typedef boost::shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> > pcl::PPFEstimation< PointInT, PointNT, PointOutT >::ConstPtr |
template<typename PointInT , typename PointNT , typename PointOutT >
| typedef pcl::PointCloud<PointOutT> pcl::PPFEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
template<typename PointInT , typename PointNT , typename PointOutT >
| typedef boost::shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> > pcl::PPFEstimation< PointInT, PointNT, PointOutT >::Ptr |
Constructor & Destructor Documentation
template<typename PointInT , typename PointNT , typename PointOutT >
| pcl::PPFEstimation< PointInT, PointNT, PointOutT >::PPFEstimation | ( | ) |
Empty Constructor.
Definition at line 48 of file ppf.hpp.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
The documentation for this class was generated from the following files: