Point Cloud Library (PCL)
1.3.1
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Class that calculates the "surflet" features for each pair in the given pointcloud. More...
#include <pcl/features/ppf.h>
Public Types | |
typedef pcl::PointCloud < PointOutT > | PointCloudOut |
typedef pcl::PointCloud< PointNT > | PointCloudN |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, PointOutT > > | ConstPtr |
Public Member Functions | |
PPFEstimation () | |
Empty Constructor. | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
PointCloudNConstPtr | getInputNormals () |
Get a pointer to the normals of the input XYZ point cloud dataset. |
Class that calculates the "surflet" features for each pair in the given pointcloud.
Please refer to the following publication for more details: B. Drost, M. Ulrich, N. Navab, S. Ilic Model Globally, Match Locally: Efficient and Robust 3D Object Recognition 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 13-18 June 2010, San Francisco, CA
PointOutT is meant to be pcl::PPFSignature - contains the 4 values of the Surflet feature and in addition, alpha_m for the respective pair - optimization proposed by the authors (see above)
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited] |
typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals::PointCloudN [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::ConstPtr pcl::FeatureFromNormals::PointCloudNConstPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::Ptr pcl::FeatureFromNormals::PointCloudNPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef pcl::PointCloud<PointOutT> pcl::PPFEstimation::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited] |
PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals | ( | ) | [inline, inherited] |
void pcl::FeatureFromNormals::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!
normals | the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1. |