Point Cloud Library (PCL)
1.11.0
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37 #ifndef _PCL_GPU_FEATURES_HPP_
38 #define _PCL_GPU_FEATURES_HPP_
42 #include <pcl/gpu/containers/device_array.h>
43 #include <pcl/gpu/octree/device_format.hpp>
44 #include <pcl/gpu/octree/octree.hpp>
108 float vpx_, vpy_, vpz_;
240 float vpx_, vpy_, vpz_;
242 bool use_given_normal_;
243 bool use_given_centroid_;
244 bool normalize_bins_;
245 bool normalize_distances_;
246 bool size_component_;
248 NormalType normal_to_use_;
262 double support_angle_cos = 0.0,
263 unsigned int min_pts_neighb = 0);
285 NormalType rotation_axis_;
286 bool use_custom_axis_;
289 bool use_custom_axes_cloud_;
293 unsigned int image_width_;
294 float support_angle_cos_;
295 unsigned int min_pts_neighb_;
Defines all the PCL and non-PCL macros used.
void compute(DeviceArray2D< FPFHSignature33 > &features)
void getViewPoint(float &vpx, float &vpy, float &vpz) const
void compute(DeviceArray< VFHSignature308 > &feature)
void setAngularDomain(bool is_angular=true)
Octree implementation on GPU.
void setImageWidth(unsigned int bin_count)
void setCentroidToUse(const PointType ¢roid)
void setSupportAngle(float support_angle_cos)
void compute(Normals &normals)
static void computeNormals(const PointCloud &cloud, const NeighborIndices &nn_indices, Normals &normals)
Feature represents the base feature class.
static void flipNormalTowardsViewpoint(const PointCloud &cloud, const Indices &indices, float vp_x, float vp_y, float vp_z, Normals &normals)
void setUseGivenNormal(bool use)
void setUseGivenCentroid(bool use)
SpinImageEstimation(unsigned int image_width=8, double support_angle_cos=0.0, unsigned int min_pts_neighb=0)
void compute(DeviceArray2D< PFHRGBSignature250 > &features)
void compute(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighbours, DeviceArray2D< FPFHSignature33 > &features)
void setInputCloud(const PointCloud &cloud)
void setNormalizeDistance(bool normalize)
virtual ~FPFHEstimation()
void setIndices(const Indices &indices)
void compute(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighb_indices, DeviceArray2D< PFHRGBSignature250 > &features)
Class for PFH estimation.
void setRadialStructure(bool is_radial=true)
void setViewPoint(float vpx, float vpy, float vpz)
A point structure representing Euclidean xyz coordinates.
void setSearchSurfaceWithNormals(const PointCloud &surface, const Normals &normals)
void setMinPointCountInNeighbourhood(unsigned int min_pts_neighb)
void compute(DeviceArray< PrincipalCurvatures > &features)
void setInputWithNormals(const PointCloud &input, const Normals &normals)
void getViewPoint(float &vpx, float &vpy, float &vpz) const
void setInputRotationAxes(const Normals &axes)
void setInputNormals(const Normals &normals)
void compute(DeviceArray2D< SpinImage > &features, DeviceArray< unsigned char > &mask)
void compute(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighb_indices, DeviceArray2D< PFHSignature125 > &features)
void setSearchSurface(const PointCloud &surface)
void setRadiusSearch(float radius, int max_results)
static void flipNormalTowardsViewpoint(const PointCloud &cloud, float vp_x, float vp_y, float vp_z, Normals &normals)
void compute(DeviceArray< PPFRGBSignature > &features)
Class for PFHRGB estimation.
Class for normal estimation.
A point structure representing an N-D histogram.
Class for FPFH estimation.
void setNormalToUse(const NormalType &normal)
void compute(DeviceArray< PPFSignature > &features)
void setNormalizeBins(bool normalize)
void compute(DeviceArray< PPFRGBSignature > &features)
void compute(DeviceArray2D< PFHSignature125 > &features)
void useNormalsAsRotationAxis()
void setFillSizeComponent(bool fill_size)
void setViewPoint(float vpx, float vpy, float vpz)
void setRotationAxis(const NormalType &axis)
Feature represents the base feature class that takes normals as input also.