Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions | Public Attributes
pcl::CVFHEstimation Class Reference

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/cvfh.h>

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List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef pcl::search::Search
< PointNormal >::Ptr 
KdTreePtr
typedef pcl::NormalEstimation
< PointNormal, PointNormal
NormalEstimator
typedef pcl::VFHEstimation
< PointInT, PointNT,
pcl::VFHSignature308
VFHEstimator
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

 CVFHEstimation ()
 Empty constructor.
void filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, 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 > &centroids)
 Get the 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)
void setNormalizeBins (bool normalize)
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.

Public Attributes

pcl::PointCloud
< pcl::PointXYZINormal >::Ptr 
clusters_colored_

Detailed Description

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing points and normals.

Author:
Aitor Aldoma

Member Typedef Documentation

typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited]

Definition at line 290 of file feature.h.

Definition at line 67 of file cvfh.h.

Definition at line 68 of file cvfh.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 285 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 287 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 286 of file feature.h.

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

Definition at line 66 of file cvfh.h.

typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited]

Definition at line 289 of file feature.h.

Definition at line 69 of file cvfh.h.


Constructor & Destructor Documentation

pcl::CVFHEstimation::CVFHEstimation ( ) [inline]

Empty constructor.

Definition at line 74 of file cvfh.h.


Member Function Documentation

void pcl::CVFHEstimation::filterNormalsWithHighCurvature ( const pcl::PointCloud< PointNT > &  cloud,
std::vector< int > &  indices_out,
std::vector< int > &  indices_in,
float  threshold 
)

Removes normals with high curvature caused by real edges or noisy data.

Parameters:
cloudpointcloud to be filtered
indices_outthe indices of the points with higher curvature than threshold
indices_inthe indices of the remaining points after filtering
thresholdthreshold value for curvature

Definition at line 138 of file cvfh.hpp.

void pcl::CVFHEstimation::getCentroidClusters ( std::vector< Eigen::Vector3f > &  centroids) [inline]

Get the centroids used to compute different CVFH descriptors.

Parameters:
centroidsvector to hold the centroids

Definition at line 135 of file cvfh.h.

PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals ( ) [inline, inherited]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 312 of file feature.h.

void pcl::CVFHEstimation::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
) [inline]

Get the viewpoint.

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

Definition at line 124 of file cvfh.h.

void pcl::CVFHEstimation::setClusterTolerance ( float  d) [inline]

Sets max.

Euclidean distance between points to be added to the cluster

Definition at line 143 of file cvfh.h.

void pcl::CVFHEstimation::setCurvatureThreshold ( float  d) [inline]

Sets curvature threshold for removing normals.

Definition at line 160 of file cvfh.h.

void pcl::CVFHEstimation::setEPSAngleThreshold ( float  d) [inline]

Sets max.

deviation of the normals between two points so they can be clustered together

Definition at line 151 of file cvfh.h.

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!

Parameters:
normalsthe const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 308 of file feature.h.

void pcl::CVFHEstimation::setMinPoints ( size_t  min) [inline]

Definition at line 169 of file cvfh.h.

void pcl::CVFHEstimation::setNormalizeBins ( bool  normalize) [inline]

Definition at line 178 of file cvfh.h.

void pcl::CVFHEstimation::setRadiusNormals ( float  radius_normals) [inline]

Set the radius used to compute normals.

Parameters:
radius_normalsthe radius

Definition at line 113 of file cvfh.h.

void pcl::CVFHEstimation::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
) [inline]

Set the viewpoint.

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

Definition at line 102 of file cvfh.h.


Member Data Documentation

Definition at line 71 of file cvfh.h.


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