Point Cloud Library (PCL)
1.3.1
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#include <pcl/features/pfhrgb.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
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 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) |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
PointCloudNConstPtr | getInputNormals () |
Get a pointer to the normals of the input XYZ point cloud dataset. |
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited] |
typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals::PointCloudN [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::ConstPtr pcl::FeatureFromNormals::PointCloudNConstPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::Ptr pcl::FeatureFromNormals::PointCloudNPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::PFHRGBEstimation::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited] |
void pcl::PFHRGBEstimation::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 62 of file pfhrgb.hpp.
bool pcl::PFHRGBEstimation::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 45 of file pfhrgb.hpp.
PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals | ( | ) | [inline, inherited] |
void pcl::FeatureFromNormals::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!
normals | the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1. |