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_;
262 double support_angle_cos = 0.0,
263 unsigned int min_pts_neighb = 0);
265 void setImageWidth (
unsigned int bin_count);
266 void setSupportAngle (
float support_angle_cos);
267 void setMinPointCountInNeighbourhood (
unsigned int min_pts_neighb);
268 void setInputWithNormals (
const PointCloud& input,
const Normals& normals);
269 void setSearchSurfaceWithNormals (
const PointCloud& surface,
const Normals& normals);
271 void setRotationAxis (
const NormalType& axis);
272 void setInputRotationAxes (
const Normals& axes);
273 void useNormalsAsRotationAxis();
274 void setAngularDomain (
bool is_angular =
true);
275 void setRadialStructure (
bool is_radial =
true);
280 Normals input_normals_;
281 Normals rotation_axes_cloud_;
285 NormalType rotation_axis_;
286 bool use_custom_axis_;
PointCloud represents the base class in PCL for storing collections of 3D points.
PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of...
Estimates spin-image descriptors in the given input points.
Class for FPFH estimation.
void compute(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighbours, DeviceArray2D< FPFHSignature33 > &features)
void compute(DeviceArray2D< FPFHSignature33 > &features)
virtual ~FPFHEstimation()
Class for normal estimation.
void getViewPoint(float &vpx, float &vpy, float &vpz) const
static void computeNormals(const PointCloud &cloud, const NeighborIndices &nn_indices, Normals &normals)
static void flipNormalTowardsViewpoint(const PointCloud &cloud, const Indices &indices, float vp_x, float vp_y, float vp_z, Normals &normals)
static void flipNormalTowardsViewpoint(const PointCloud &cloud, float vp_x, float vp_y, float vp_z, Normals &normals)
void setViewPoint(float vpx, float vpy, float vpz)
void compute(Normals &normals)
Octree implementation on GPU.
Class for PFH estimation.
void compute(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighb_indices, DeviceArray2D< PFHSignature125 > &features)
void compute(DeviceArray2D< PFHSignature125 > &features)
Class for PFHRGB estimation.
void compute(DeviceArray2D< PFHRGBSignature250 > &features)
void compute(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighb_indices, DeviceArray2D< PFHRGBSignature250 > &features)
void compute(DeviceArray< PPFSignature > &features)
void compute(DeviceArray< PPFRGBSignature > &features)
void compute(DeviceArray< PPFRGBSignature > &features)
Class for PPFRGBRegion estimation.
void getViewPoint(float &vpx, float &vpy, float &vpz) const
void setUseGivenNormal(bool use)
void setCentroidToUse(const PointType ¢roid)
void setNormalizeBins(bool normalize)
void setNormalToUse(const NormalType &normal)
void compute(DeviceArray< VFHSignature308 > &feature)
void setNormalizeDistance(bool normalize)
void setUseGivenCentroid(bool use)
void setViewPoint(float vpx, float vpy, float vpz)
void setFillSizeComponent(bool fill_size)
Defines all the PCL implemented PointT point type structures.
NeighborIndices nn_indices_
bool use_custom_axes_cloud_
Class for SpinImages estimation.
unsigned int min_pts_neighb_
unsigned int image_width_
Defines all the PCL and non-PCL macros used.
A point structure representing an N-D histogram.
A point structure representing Euclidean xyz coordinates.
Feature represents the base feature class that takes normals as input also.
void setInputNormals(const Normals &normals)
Feature represents the base feature class.
void setSearchSurface(const PointCloud &surface)
void setInputCloud(const PointCloud &cloud)
void setIndices(const Indices &indices)
void setRadiusSearch(float radius, int max_results)