Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions
pcl::CRHEstimation< PointInT, PointNT, PointOutT > Class Template Reference

CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...

#include <pcl/features/crh.h>

+ Inheritance diagram for pcl::CRHEstimation< PointInT, PointNT, PointOutT >:

List of all members.

Public Types

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

Public Member Functions

 CRHEstimation ()
 Constructor.
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint.
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint.
void setCentroid (Eigen::Vector4f &centroid)

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90>>
class pcl::CRHEstimation< PointInT, PointNT, PointOutT >

CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)

Author:
Aitor Aldoma

Definition at line 61 of file crh.h.


Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
typedef boost::shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 65 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CRHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 75 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
typedef boost::shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::Ptr

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 64 of file crh.h.


Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation ( ) [inline]

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
) [inline]

Get the viewpoint.

Parameters:
[out]vpxthe X coordinate of the viewpoint
[out]vpythe Y coordinate of the viewpoint
[out]vpzthe Z coordinate of the viewpoint

Definition at line 105 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setCentroid ( Eigen::Vector4f &  centroid) [inline]

Definition at line 113 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>
void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
) [inline]

Set the viewpoint.

Parameters:
[in]vpxthe X coordinate of the viewpoint
[in]vpythe Y coordinate of the viewpoint
[in]vpzthe Z coordinate of the viewpoint

Definition at line 92 of file crh.h.


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