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

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points. More...

#include <pcl/features/esf.h>

Inheritance diagram for pcl::ESFEstimation< PointInT, PointOutT >:

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Collaboration diagram for pcl::ESFEstimation< PointInT, PointOutT >:

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List of all members.

Public Types
typedef boost::shared_ptr < ESFEstimation< PointInT, PointOutT > >	Ptr
typedef boost::shared_ptr < const ESFEstimation < PointInT, PointOutT > >	ConstPtr
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
	ESFEstimation ()
	Empty constructor.
void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature.
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.
int	lci (const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)

void	computeESF (PointCloudIn &pc, std::vector< float > &hist)

void	voxelize9 (PointCloudIn &cluster)

void	cleanup9 (PointCloudIn &cluster)

void	scale_points_unit_sphere (const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points.

Shape functions are D2, D3, A3. For more information about the ESF descriptor, see: Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011

Author:: Walter Wohlkinger

Definition at line 59 of file esf.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

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

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 63 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

typedef pcl::PointCloud<PointInT> pcl::ESFEstimation< PointInT, PointOutT >::PointCloudIn

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 73 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::ESFEstimation< PointInT, PointOutT >::PointCloudOut

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 74 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

typedef boost::shared_ptr<ESFEstimation<PointInT, PointOutT> > pcl::ESFEstimation< PointInT, PointOutT >::Ptr

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 62 of file esf.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>

pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation ( ) [inline]

Empty constructor.

Definition at line 77 of file esf.h.

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

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::cleanup9 ( PointCloudIn & cluster ) [inline, protected]

..

Definition at line 452 of file esf.hpp.

References pcl::PointCloud< PointT >::points.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::computeFeature().

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::compute ( PointCloudOut & output ) [inline]

Overloaded computed method from pcl::Feature.

Parameters:

[out] output the resultant point cloud model dataset containing the estimated features

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 506 of file esf.hpp.

References pcl::ESFEstimation< PointInT, PointOutT >::computeFeature(), pcl::Feature< PointInT, PointOutT >::deinitCompute(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::computeESF	(	PointCloudIn &	pc,
		std::vector< float > &	hist
	)			`[inline, protected]`

..

Definition at line 52 of file esf.hpp.

References pcl::euclideanDistance(), pcl::ESFEstimation< PointInT, PointOutT >::lci(), and pcl::PointCloud< PointT >::points.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::computeFeature().

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output ) [inline, protected, virtual]

Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.

Parameters:

output

the resultant point cloud model histogram that contains the ESF feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 534 of file esf.hpp.

References pcl::ESFEstimation< PointInT, PointOutT >::cleanup9(), pcl::ESFEstimation< PointInT, PointOutT >::computeESF(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::ESFEstimation< PointInT, PointOutT >::scale_points_unit_sphere(), pcl::Feature< PointInT, PointOutT >::surface_, pcl::ESFEstimation< PointInT, PointOutT >::voxelize9(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::compute().

template<typename PointInT , typename PointOutT >

int pcl::ESFEstimation< PointInT, PointOutT >::lci	(	const int	x1,
		const int	y1,
		const int	z1,
		const int	x2,
		const int	y2,
		const int	z2,
		float &	ratio,
		int &	incnt,
		int &	pointcount
	)			`[inline, protected]`

..

Definition at line 304 of file esf.hpp.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::computeESF().

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::scale_points_unit_sphere	(	const pcl::PointCloud< PointInT > &	pc,
		float	scalefactor,
		Eigen::Vector4f &	centroid
	)			`[inline, protected]`

..

Definition at line 481 of file esf.hpp.

References pcl::compute3DCentroid(), pcl::demeanPointCloud(), pcl::euclideanDistance(), pcl::PointCloud< PointT >::points, and pcl::transformPointCloud().

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::computeFeature().

template<typename PointInT , typename PointOutT >

void pcl::ESFEstimation< PointInT, PointOutT >::voxelize9 ( PointCloudIn & cluster ) [inline, protected]

..

Definition at line 423 of file esf.hpp.

References pcl::PointCloud< PointT >::points.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::computeFeature().

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

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

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

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ESFSignature640> class pcl::ESFEstimation< PointInT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >