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Point Cloud Library (PCL)
1.15.0-dev
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Point Cloud Library (PCL)
1.15.0-dev
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CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...
#include <pcl/features/crh.h>
Inheritance diagram for pcl::CRHEstimation< PointInT, PointNT, PointOutT >: Collaboration diagram for pcl::CRHEstimation< PointInT, PointNT, PointOutT >:Public Types | |
| using | Ptr = shared_ptr< CRHEstimation< PointInT, PointNT, PointOutT > > |
| using | ConstPtr = shared_ptr< const CRHEstimation< PointInT, PointNT, PointOutT > > |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::Histogram< 90 > > | |
| using | PointCloudN = pcl::PointCloud< PointNT > |
| using | PointCloudNPtr = typename PointCloudN::Ptr |
| using | PointCloudNConstPtr = typename PointCloudN::ConstPtr |
| using | Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, pcl::Histogram< 90 > > > |
| using | ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, pcl::Histogram< 90 > > > |
| Public Types inherited from pcl::Feature< PointInT, PointOutT > | |
| using | BaseClass = PCLBase< PointInT > |
| using | Ptr = shared_ptr< Feature< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > > |
| using | KdTree = pcl::search::Search< PointInT > |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
| using | PointCloudOut = pcl::PointCloud< PointOutT > |
| using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
| Public Types inherited from pcl::PCLBase< PointInT > | |
| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| CRHEstimation () | |
| Constructor. More... | |
| void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint. More... | |
| void | getViewPoint (float &vpx, float &vpy, float &vpz) |
| Get the viewpoint. More... | |
| void | setCentroid (Eigen::Vector4f ¢roid) |
| Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::Histogram< 90 > > | |
| FeatureFromNormals () | |
| Empty constructor. More... | |
| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. More... | |
| Public Member Functions inherited from pcl::Feature< PointInT, PointOutT > | |
| Feature () | |
| Empty constructor. More... | |
| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More... | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... | |
| double | getSearchParameter () const |
| Get the internal search parameter. More... | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... | |
| void | compute (PointCloudOut &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... | |
| Public Member Functions inherited from pcl::PCLBase< PointInT > | |
| PCLBase () | |
| Empty constructor. More... | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... | |
| virtual | ~PCLBase ()=default |
| Destructor. More... | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... | |
| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... | |
| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... | |
| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More... | |
| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::Histogram< 90 > > | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... | |
| Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT > | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... | |
| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... | |
| int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| Protected Member Functions inherited from pcl::PCLBase< PointInT > | |
| bool | initCompute () |
| This method should get called before starting the actual computation. More... | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... | |
| Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::Histogram< 90 > > | |
| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
| Protected Attributes inherited from pcl::Feature< PointInT, PointOutT > | |
| std::string | feature_name_ |
| The feature name. More... | |
| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... | |
| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... | |
| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... | |
| double | search_radius_ |
| The nearest neighbors search radius for each point. More... | |
| int | k_ |
| The number of K nearest neighbors to use for each point. More... | |
| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... | |
| Protected Attributes inherited from pcl::PCLBase< PointInT > | |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... | |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... | |
| bool | use_indices_ |
| Set to true if point indices are used. More... | |
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:
The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)
| using pcl::CRHEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> > |
| using pcl::CRHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
| using pcl::CRHEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> > |
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Constructor.
Definition at line 77 of file crh.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::Feature< PointInT, PointOutT >::k_.
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