Point Cloud Library (PCL)
1.7.0
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#include <pcl/features/pfhrgb.h>
Public Types | |
typedef boost::shared_ptr < PFHRGBEstimation< PointInT, PointNT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const PFHRGBEstimation < PointInT, PointNT, PointOutT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
Public Member Functions | |
PFHRGBEstimation () | |
bool | computeRGBPairFeatures (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7) |
void | computePointPFHRGBSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram) |
Protected Member Functions | |
void | computeFeature (PointCloudOut &output) |
Abstract feature estimation method. |
typedef boost::shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> > pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::ConstPtr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef boost::shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> > pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::Ptr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PFHRGBEstimation | ( | ) | [inline] |
Definition at line 63 of file pfhrgb.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
void pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [protected, virtual] |
Abstract feature estimation method.
[out] | output | the resultant features |
nr_subdiv^3 for RGB and nr_subdiv^3 for the angular features
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 143 of file pfhrgb.hpp.
References pcl::PointCloud< PointT >::points.
void pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computePointPFHRGBSignature | ( | const pcl::PointCloud< PointInT > & | cloud, |
const pcl::PointCloud< PointNT > & | normals, | ||
const std::vector< int > & | indices, | ||
int | nr_split, | ||
Eigen::VectorXf & | pfhrgb_histogram | ||
) |
Definition at line 64 of file pfhrgb.hpp.
References pcl::computeRGBPairFeatures().
bool pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computeRGBPairFeatures | ( | const pcl::PointCloud< PointInT > & | cloud, |
const pcl::PointCloud< PointNT > & | normals, | ||
int | p_idx, | ||
int | q_idx, | ||
float & | f1, | ||
float & | f2, | ||
float & | f3, | ||
float & | f4, | ||
float & | f5, | ||
float & | f6, | ||
float & | f7 | ||
) |
Definition at line 47 of file pfhrgb.hpp.
References pcl::computeRGBPairFeatures(), and pcl::PointCloud< PointT >::points.