CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing points and normals.
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#include <pcl/features/cvfh.h>
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.
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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.
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void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint.
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void | setRadiusNormals (float radius_normals) |
| Set the radius used to compute normals.
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void | getViewPoint (float &vpx, float &vpy, float &vpz) |
| Get the viewpoint.
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void | getCentroidClusters (std::vector< Eigen::Vector3f > ¢roids) |
| Get the centroids used to compute different CVFH descriptors.
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void | setClusterTolerance (float d) |
| Sets max.
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void | setEPSAngleThreshold (float d) |
| Sets max.
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void | setCurvatureThreshold (float d) |
| Sets curvature threshold for removing normals.
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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.
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PointCloudNConstPtr | getInputNormals () |
| Get a pointer to the normals of the input XYZ point cloud dataset.
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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
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, |
|
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std::vector< int > & |
indices_in, |
|
|
float |
threshold |
|
) |
| |
Removes normals with high curvature caused by real edges or noisy data.
- Parameters:
-
cloud | pointcloud to be filtered |
indices_out | the indices of the points with higher curvature than threshold |
indices_in | the indices of the remaining points after filtering |
threshold | threshold 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:
-
centroids | vector to hold the centroids |
Definition at line 135 of file cvfh.h.
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:
-
vpx | the X coordinate of the viewpoint |
vpy | the Y coordinate of the viewpoint |
vpz | the 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:
-
normals | the 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] |
void pcl::CVFHEstimation::setNormalizeBins |
( |
bool |
normalize | ) |
[inline] |
void pcl::CVFHEstimation::setRadiusNormals |
( |
float |
radius_normals | ) |
[inline] |
Set the radius used to compute normals.
- Parameters:
-
Definition at line 113 of file cvfh.h.
void pcl::CVFHEstimation::setViewPoint |
( |
float |
vpx, |
|
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float |
vpy, |
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|
float |
vpz |
|
) |
| [inline] |
Set the viewpoint.
- Parameters:
-
vpx | the X coordinate of the viewpoint |
vpy | the Y coordinate of the viewpoint |
vpz | the Z coordinate of the viewpoint |
Definition at line 102 of file cvfh.h.
Member Data Documentation
The documentation for this class was generated from the following files:
- /builddir/build/BUILD/PCL-1.3.1-Source/features/include/pcl/features/cvfh.h
- /builddir/build/BUILD/PCL-1.3.1-Source/features/include/pcl/features/impl/cvfh.hpp