CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:
#include <pcl/features/cvfh.h>
Public Types | |
| typedef boost::shared_ptr < CVFHEstimation< PointInT, PointNT, PointOutT > > | Ptr |
| typedef boost::shared_ptr < const CVFHEstimation < PointInT, PointNT, PointOutT > > | ConstPtr |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
| typedef pcl::search::Search < PointNormal >::Ptr | KdTreePtr |
| typedef pcl::VFHEstimation < PointInT, PointNT, pcl::VFHSignature308 > | VFHEstimator |
Public Member Functions | |
| CVFHEstimation () | |
| Empty constructor. | |
| void | filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_to_use, 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 > ¢roids) |
| Get the centroids used to compute different CVFH descriptors. | |
| void | getCentroidNormalClusters (std::vector< Eigen::Vector3f > ¢roids) |
| Get the normal 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) |
| Set minimum amount of points for a cluster to be considered. | |
| void | setNormalizeBins (bool normalize) |
| Sets wether if the CVFH signatures should be normalized or not. | |
| void | compute (PointCloudOut &output) |
| Overloaded computed method from pcl::Feature. | |
Protected Attributes | |
| std::vector< Eigen::Vector3f > | centroids_dominant_orientations_ |
| Centroids that were used to compute different CVFH descriptors. | |
| std::vector< Eigen::Vector3f > | dominant_normals_ |
| Normal centroids that were used to compute different CVFH descriptors. | |
CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:
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::VFHSignature308.
Definition at line 64 of file cvfh.h.
| typedef boost::shared_ptr<const CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef pcl::search::Search<PointNormal>::Ptr pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef boost::shared_ptr<CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::Ptr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator |
| pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 83 of file cvfh.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::search_radius_.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::compute | ( | PointCloudOut & | output | ) | [inline] |
Overloaded computed method from pcl::Feature.
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 51 of file cvfh.hpp.
References pcl::Feature< PointInT, PointOutT >::deinitCompute(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature | ( | const pcl::PointCloud< PointNT > & | cloud, | |
| std::vector< int > & | indices_to_use, | |||
| std::vector< int > & | indices_out, | |||
| std::vector< int > & | indices_in, | |||
| float | threshold | |||
| ) | [inline] |
Removes normals with high curvature caused by real edges or noisy data.
| [in] | cloud | pointcloud to be filtered |
| [out] | indices_out | the indices of the points with higher curvature than threshold |
| [out] | indices_in | the indices of the remaining points after filtering |
| [in] | threshold | threshold value for curvature |
Definition at line 162 of file cvfh.hpp.
References pcl::PointCloud< PointT >::points.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters | ( | std::vector< Eigen::Vector3f > & | centroids | ) | [inline] |
Get the centroids used to compute different CVFH descriptors.
| [out] | centroids | vector to hold the centroids |
Definition at line 150 of file cvfh.h.
References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters | ( | std::vector< Eigen::Vector3f > & | centroids | ) | [inline] |
Get the normal centroids used to compute different CVFH descriptors.
| [out] | centroids | vector to hold the normal centroids |
Definition at line 160 of file cvfh.h.
References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint | ( | float & | vpx, | |
| float & | vpy, | |||
| float & | vpz | |||
| ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance | ( | float | d | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold | ( | float | d | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold | ( | float | d | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints | ( | size_t | min | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins | ( | bool | normalize | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals | ( | float | radius_normals | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint | ( | float | vpx, | |
| float | vpy, | |||
| float | vpz | |||
| ) | [inline] |
std::vector<Eigen::Vector3f> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_ [protected] |
Centroids that were used to compute different CVFH descriptors.
Definition at line 282 of file cvfh.h.
Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters().
std::vector<Eigen::Vector3f> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_ [protected] |
Normal centroids that were used to compute different CVFH descriptors.
Definition at line 284 of file cvfh.h.
Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters().
