Point Cloud Library (PCL)
1.7.0
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CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...
#include <pcl/features/cvfh.h>
Public Types | |
typedef boost::shared_ptr < CVFHEstimation< PointInT, PointNT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const CVFHEstimation < PointInT, PointNT, PointOutT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef pcl::search::Search < PointNormal >::Ptr | KdTreePtr |
typedef pcl::VFHEstimation < PointInT, PointNT, pcl::VFHSignature308 > | VFHEstimator |
Public Member Functions | |
CVFHEstimation () | |
Empty constructor. | |
void | filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_to_use, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold) |
Removes normals with high curvature caused by real edges or noisy data. | |
void | setViewPoint (float vpx, float vpy, float vpz) |
Set the viewpoint. | |
void | setRadiusNormals (float radius_normals) |
Set the radius used to compute normals. | |
void | getViewPoint (float &vpx, float &vpy, float &vpz) |
Get the viewpoint. | |
void | getCentroidClusters (std::vector< Eigen::Vector3f > ¢roids) |
Get the centroids used to compute different CVFH descriptors. | |
void | getCentroidNormalClusters (std::vector< Eigen::Vector3f > ¢roids) |
Get the normal centroids used to compute different CVFH descriptors. | |
void | setClusterTolerance (float d) |
Sets max. | |
void | setEPSAngleThreshold (float d) |
Sets max. | |
void | setCurvatureThreshold (float d) |
Sets curvature threshold for removing normals. | |
void | setMinPoints (size_t min) |
Set minimum amount of points for a cluster to be considered. | |
void | setNormalizeBins (bool normalize) |
Sets wether if the CVFH signatures should be normalized or not. | |
void | compute (PointCloudOut &output) |
Overloaded computed method from pcl::Feature. | |
Protected Attributes | |
std::vector< Eigen::Vector3f > | centroids_dominant_orientations_ |
Centroids that were used to compute different CVFH descriptors. | |
std::vector< Eigen::Vector3f > | dominant_normals_ |
Normal centroids that were used to compute different CVFH descriptors. |
CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:
The suggested PointOutT is pcl::VFHSignature308.
typedef boost::shared_ptr<const CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef pcl::search::Search<PointNormal>::Ptr pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef boost::shared_ptr<CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::Ptr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator |
pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 83 of file cvfh.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::search_radius_.
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::compute | ( | PointCloudOut & | output | ) |
Overloaded computed method from pcl::Feature.
[out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 51 of file cvfh.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature | ( | const pcl::PointCloud< PointNT > & | cloud, |
std::vector< int > & | indices_to_use, | ||
std::vector< int > & | indices_out, | ||
std::vector< int > & | indices_in, | ||
float | threshold | ||
) |
Removes normals with high curvature caused by real edges or noisy data.
[in] | cloud | pointcloud to be filtered |
[out] | indices_out | the indices of the points with higher curvature than threshold |
[out] | indices_in | the indices of the remaining points after filtering |
[in] | threshold | threshold value for curvature |
Definition at line 162 of file cvfh.hpp.
References pcl::PointCloud< PointT >::points.
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters | ( | std::vector< Eigen::Vector3f > & | centroids | ) | [inline] |
Get the centroids used to compute different CVFH descriptors.
[out] | centroids | vector to hold the centroids |
Definition at line 150 of file cvfh.h.
References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_.
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters | ( | std::vector< Eigen::Vector3f > & | centroids | ) | [inline] |
Get the normal centroids used to compute different CVFH descriptors.
[out] | centroids | vector to hold the normal centroids |
Definition at line 160 of file cvfh.h.
References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_.
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint | ( | float & | vpx, |
float & | vpy, | ||
float & | vpz | ||
) | [inline] |
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance | ( | float | d | ) | [inline] |
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold | ( | float | d | ) | [inline] |
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold | ( | float | d | ) | [inline] |
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints | ( | size_t | min | ) | [inline] |
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins | ( | bool | normalize | ) | [inline] |
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals | ( | float | radius_normals | ) | [inline] |
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint | ( | float | vpx, |
float | vpy, | ||
float | vpz | ||
) | [inline] |
std::vector<Eigen::Vector3f> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_ [protected] |
Centroids that were used to compute different CVFH descriptors.
Definition at line 282 of file cvfh.h.
Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters().
std::vector<Eigen::Vector3f> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_ [protected] |
Normal centroids that were used to compute different CVFH descriptors.
Definition at line 284 of file cvfh.h.
Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters().