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

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points. More...

#include <pcl/features/esf.h>

+ Inheritance diagram for pcl::ESFEstimation< PointInT, PointOutT >:

List of all members.

Public Types

typedef boost::shared_ptr
< ESFEstimation< PointInT,
PointOutT > > 
Ptr
typedef boost::shared_ptr
< const ESFEstimation
< PointInT, PointOutT > > 
ConstPtr
typedef pcl::PointCloud< PointInT > PointCloudIn
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut

Public Member Functions

 ESFEstimation ()
 Empty constructor.
void compute (PointCloudOut &output)
 Overloaded computed method from pcl::Feature.

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.
int lci (const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
 ...
void computeESF (PointCloudIn &pc, std::vector< float > &hist)
 ...
void voxelize9 (PointCloudIn &cluster)
 ...
void cleanup9 (PointCloudIn &cluster)
 ...
void scale_points_unit_sphere (const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)
 ...

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points.

Shape functions are D2, D3, A3. For more information about the ESF descriptor, see: Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011

Author:
Walter Wohlkinger

Definition at line 59 of file esf.h.


Member Typedef Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef boost::shared_ptr<const ESFEstimation<PointInT, PointOutT> > pcl::ESFEstimation< PointInT, PointOutT >::ConstPtr

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

Definition at line 63 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef pcl::PointCloud<PointInT> pcl::ESFEstimation< PointInT, PointOutT >::PointCloudIn

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

Definition at line 73 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::ESFEstimation< PointInT, PointOutT >::PointCloudOut

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

Definition at line 74 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef boost::shared_ptr<ESFEstimation<PointInT, PointOutT> > pcl::ESFEstimation< PointInT, PointOutT >::Ptr

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

Definition at line 62 of file esf.h.


Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation ( ) [inline]

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::cleanup9 ( PointCloudIn cluster) [protected]

...

Definition at line 452 of file esf.hpp.

References pcl::PointCloud< PointT >::points.

template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::compute ( PointCloudOut output)

Overloaded computed method from pcl::Feature.

Parameters:
[out]outputthe resultant point cloud model dataset containing the estimated features

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

Definition at line 506 of file esf.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::computeESF ( PointCloudIn pc,
std::vector< float > &  hist 
) [protected]

...

Definition at line 52 of file esf.hpp.

References pcl::euclideanDistance(), and pcl::PointCloud< PointT >::points.

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

Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.

Parameters:
outputthe resultant point cloud model histogram that contains the ESF feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 534 of file esf.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointInT , typename PointOutT >
int pcl::ESFEstimation< PointInT, PointOutT >::lci ( const int  x1,
const int  y1,
const int  z1,
const int  x2,
const int  y2,
const int  z2,
float &  ratio,
int &  incnt,
int &  pointcount 
) [protected]

...

Definition at line 304 of file esf.hpp.

template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::scale_points_unit_sphere ( const pcl::PointCloud< PointInT > &  pc,
float  scalefactor,
Eigen::Vector4f &  centroid 
) [protected]
template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::voxelize9 ( PointCloudIn cluster) [protected]

...

Definition at line 423 of file esf.hpp.

References pcl::PointCloud< PointT >::points.


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