pcl::CRHEstimation< PointInT, PointNT, PointOutT > Class Template Reference
[Module features]

CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

• CAD-Model Recognition and 6 DOF Pose Estimation A.

More...

#include <pcl/features/crh.h>

Inheritance diagram for pcl::CRHEstimation< PointInT, PointNT, PointOutT >:

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Collaboration diagram for pcl::CRHEstimation< PointInT, PointNT, PointOutT >:

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List of all members.

Public Types
typedef boost::shared_ptr < CRHEstimation< PointInT, PointNT, PointOutT > >	Ptr
typedef boost::shared_ptr < const CRHEstimation < PointInT, PointNT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
	CRHEstimation ()
	Constructor.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
void	setCentroid (Eigen::Vector4f &centroid)

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Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90>>
class pcl::CRHEstimation< PointInT, PointNT, PointOutT >

CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

• CAD-Model Recognition and 6 DOF Pose Estimation A.

Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski ICCV 2011, 3D Representation and Recognition (3dRR11) workshop Barcelona, Spain, (2011)

The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)

Author:

Aitor Aldoma

Definition at line 61 of file crh.h.

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Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

typedef boost::shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

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

Definition at line 65 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CRHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

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

Definition at line 75 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

typedef boost::shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> > pcl::CRHEstimation< PointInT, PointNT, PointOutT >::Ptr

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

Definition at line 64 of file crh.h.

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Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation

(

)

[inline]

Constructor.

Definition at line 78 of file crh.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::Feature< PointInT, PointOutT >::k_.

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Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)			[inline]

Get the viewpoint.

Parameters:

[out]	vpx	the X coordinate of the viewpoint
[out]	vpy	the Y coordinate of the viewpoint
[out]	vpz	the Z coordinate of the viewpoint

Definition at line 105 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setCentroid

(

Eigen::Vector4f &

centroid

)

[inline]

Definition at line 113 of file crh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::Histogram<90>>

void pcl::CRHEstimation< PointInT, PointNT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)			[inline]

Set the viewpoint.

Parameters:

[in]	vpx	the X coordinate of the viewpoint
[in]	vpy	the Y coordinate of the viewpoint
[in]	vpz	the Z coordinate of the viewpoint

Definition at line 92 of file crh.h.

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The documentation for this class was generated from the following files:

• /builddir/build/BUILD/pcl-pcl-1.7.1/features/include/pcl/features/crh.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/features/include/pcl/features/impl/crh.hpp