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

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...

#include <pcl/features/moment_invariants.h>

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

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

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List of all members.

Public Types
typedef boost::shared_ptr < MomentInvariantsEstimation < PointInT, PointOutT > >	Ptr
typedef boost::shared_ptr < const MomentInvariantsEstimation < PointInT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
	MomentInvariantsEstimation ()
	Empty constructor.
void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

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Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::MomentInvariantsEstimation< PointInT, PointOutT >

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.

Note:

The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOMP for an example on how to extend this to parallel implementations.

Author:

Radu B. Rusu

Definition at line 56 of file moment_invariants.h.

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Member Typedef Documentation

template<typename PointInT , typename PointOutT >

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

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

Definition at line 60 of file moment_invariants.h.

template<typename PointInT , typename PointOutT >

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

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

Definition at line 69 of file moment_invariants.h.

template<typename PointInT , typename PointOutT >

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

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

Definition at line 59 of file moment_invariants.h.

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Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT >

pcl::MomentInvariantsEstimation< PointInT, PointOutT >::MomentInvariantsEstimation

(

)

[inline]

Empty constructor.

Definition at line 72 of file moment_invariants.h.

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

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Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computeFeature

(

PointCloudOut &

output

)

[inline, protected, virtual]

Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters:

[out]

output

the resultant point cloud model dataset that contains the moment invariants

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 116 of file moment_invariants.hpp.

References pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants(), pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::Feature< PointInT, PointOutT >::k_, pcl::PointCloud< PointT >::points, pcl::Feature< PointInT, PointOutT >::search_parameter_, pcl::Feature< PointInT, PointOutT >::searchForNeighbors(), and pcl::Feature< PointInT, PointOutT >::surface_.

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		float &	j1,
		float &	j2,
		float &	j3
	)			[inline]

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:

[in]	cloud	the input point cloud
[out]	j1	the resultant first moment invariant
[out]	j2	the resultant second moment invariant
[out]	j3	the resultant third moment invariant

Definition at line 83 of file moment_invariants.hpp.

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

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		const std::vector< int > &	indices,
		float &	j1,
		float &	j2,
		float &	j3
	)			[inline]

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters:

[in]	cloud	the input point cloud
[in]	indices	the point cloud indices that need to be used
[out]	j1	the resultant first moment invariant
[out]	j2	the resultant second moment invariant
[out]	j3	the resultant third moment invariant

Definition at line 49 of file moment_invariants.hpp.

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

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

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