Similar to the Point Feature Histogram descriptor, but also takes color into account. More...
#include <pcl/features/pfhrgb.h>
Inheritance diagram for pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >:
Collaboration diagram for pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >:
Public Types | |
| using | Ptr = shared_ptr< PFHRGBEstimation< PointInT, PointNT, PointOutT > > |
| using | ConstPtr = shared_ptr< const PFHRGBEstimation< PointInT, PointNT, PointOutT > > |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHRGBSignature250 > | |
| using | PointCloudN = pcl::PointCloud< PointNT > |
| using | PointCloudNPtr = typename PointCloudN::Ptr |
| using | PointCloudNConstPtr = typename PointCloudN::ConstPtr |
| using | Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, pcl::PFHRGBSignature250 > > |
| using | ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, pcl::PFHRGBSignature250 > > |
| 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 | |
| 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 pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram) |
| Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHRGBSignature250 > | |
| 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... | |
Protected Member Functions | |
| void | computeFeature (PointCloudOut &output) override |
| Abstract feature estimation method. More... | |
| Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHRGBSignature250 > | |
| 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... | |
Additional Inherited Members | |
| Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHRGBSignature250 > | |
| 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... | |
Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
class pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >
Similar to the Point Feature Histogram descriptor, but also takes color into account.
See also PFHEstimation
Member Typedef Documentation
◆ ConstPtr
template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
| using pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> > |
◆ PointCloudOut
template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
| using pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
◆ Ptr
template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
| using pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> > |
Constructor & Destructor Documentation
◆ PFHRGBEstimation()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHRGBSignature250>
|
inline |
Definition at line 64 of file pfhrgb.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
Member Function Documentation
◆ computeFeature()
template<typename PointInT , typename PointNT , typename PointOutT >
|
overrideprotectedvirtual |
Abstract feature estimation method.
- Parameters
-
[out] output the resultant features
nr_subdiv^3 for RGB and nr_subdiv^3 for the angular features
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 135 of file pfhrgb.hpp.
◆ computePointPFHRGBSignature()
template<typename PointInT , typename PointNT , typename PointOutT >
| void pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::computePointPFHRGBSignature | ( | const pcl::PointCloud< PointInT > & | cloud, |
| const pcl::PointCloud< PointNT > & | normals, | ||
| const pcl::Indices & | indices, | ||
| int | nr_split, | ||
| Eigen::VectorXf & | pfhrgb_histogram | ||
| ) |
Definition at line 64 of file pfhrgb.hpp.
References pcl::computeRGBPairFeatures(), and M_PI.
◆ computeRGBPairFeatures()
template<typename PointInT , typename PointNT , typename PointOutT >
| bool pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::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 47 of file pfhrgb.hpp.
References pcl::computeRGBPairFeatures().
The documentation for this class was generated from the following files:
- pcl/features/pfhrgb.h
- pcl/features/impl/pfhrgb.hpp