VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/vfh.h>

Inheritance diagram for pcl::VFHEstimation< PointInT, PointNT, PointOutT >:

[legend]

Collaboration diagram for pcl::VFHEstimation< PointInT, PointNT, PointOutT >:

[legend]

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	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
typedef PCLBase< PointInT >	BaseClass
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)>	SearchMethod
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)>	SearchMethodSurface
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	VFHEstimation ()
	Empty constructor.
void	computePointSPFHSignature (const Eigen::Vector4f &centroid_p, const Eigen::Vector4f &centroid_n, const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices)
	Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
void	setUseGivenNormal (bool use)
	Set use_given_normal_.
void	setNormalToUse (const Eigen::Vector3f &normal)
	Set the normal to use.
void	setUseGivenCentroid (bool use)
	Set use_given_centroid_.
void	setCentroidToUse (const Eigen::Vector3f &centroid)
	Set centroid_to_use_.
void	setNormalizeBins (bool normalize)
	set normalize_bins_
void	setNormalizeDistance (bool normalize)
	set normalize_distances_
void	setFillSizeComponent (bool fill_size)
	set size_component_
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.
void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
double	getSearchParameter ()
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors.
void	compute (PointCloudOut &output)
	Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
void	computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output)
	Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
int	searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
int	searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::VFHEstimation< PointInT, PointNT, PointOutT >

VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals.

The default VFH implementation uses 45 binning subdivisions for each of the three extended FPFH values, and 128 binning subdivisions for the viewpoint component, which results in a 308-byte array of float values. These are stored in a pcl::VFHSignature308 point type. A major difference between the PFH/FPFH descriptors and VFH, is that for a given point cloud dataset, only a single VFH descriptor will be estimated (vfhs->points.size() should be 1), while the resultant PFH/FPFH data will have the same number of entries as the number of points in the cloud.

Note:: If you use this code in any academic work, please cite:

R.B. Rusu, G. Bradski, R. Thibaux, J. Hsu. Fast 3D Recognition and Pose Using the Viewpoint Feature Histogram. In Proceedings of International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22 2010.

Note:: The code is stateful as we do not expect this class to be multicore parallelized. Please look at FPFHEstimationOMP for an example of a parallel implementation of the FPFH (Fast Point Feature Histogram).

Author:: Radu B. Rusu

Definition at line 69 of file vfh.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited]

Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.

Definition at line 110 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::ConstPtr [inherited]

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

Definition at line 317 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited]

Definition at line 115 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited]

Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Definition at line 76 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudN [inherited]

Definition at line 312 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef PointCloudN::ConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNConstPtr [inherited]

Definition at line 314 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef PointCloudN::Ptr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNPtr [inherited]

Definition at line 313 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::VFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 81 of file vfh.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::Ptr [inherited]

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

Definition at line 316 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited]

Definition at line 124 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited]

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

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

Empty constructor.

Definition at line 84 of file vfh.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

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

Base method for feature estimation 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 containing the estimated features

Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.

Definition at line 201 of file feature.hpp.

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::computeEigen ( pcl::PointCloud< Eigen::MatrixXf > & output ) [inherited]

Base method for feature estimation 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 containing the estimated features

Reimplemented in pcl::SHOTEstimationBase< PointInT, PointNT, Eigen::MatrixXf >.

Definition at line 237 of file feature.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::computePointSPFHSignature	(	const Eigen::Vector4f &	centroid_p,
		const Eigen::Vector4f &	centroid_n,
		const pcl::PointCloud< PointInT > &	cloud,
		const pcl::PointCloud< PointNT > &	normals,
		const std::vector< int > &	indices
	)

Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood.

Parameters:

[in]	centroid_p	the centroid point
[in]	centroid_n	the centroid normal
[in]	cloud	the dataset containing the XYZ Cartesian coordinates of the two points
[in]	normals	the dataset containing the surface normals at each point in cloud
[in]	indices	the k-neighborhood point indices in the dataset

Definition at line 63 of file vfh.hpp.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>

PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::getInputNormals ( ) [inline, inherited]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 339 of file feature.h.

template<typename PointInT, typename PointOutT>

int pcl::Feature< PointInT, PointOutT >::getKSearch ( ) [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getRadiusSearch ( ) [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 184 of file feature.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 159 of file feature.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getSearchParameter ( ) [inline, inherited]

Get the internal search parameter.

Definition at line 163 of file feature.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface ( ) [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 149 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)		`[inline]`

Get the viewpoint.

Definition at line 132 of file vfh.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::Feature< PointInT, PointOutT >::searchForNeighbors	(	size_t	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		const `[inline, inherited]`

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:

[in]	index	the index of the query point
[in]	parameter	the search parameter (either k or radius)
[out]	indices	the resultant vector of indices representing the k-nearest neighbors
[out]	distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Returns:: the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 213 of file feature.h.

template<typename PointInT, typename PointOutT>

int pcl::Feature< PointInT, PointOutT >::searchForNeighbors	(	const PointCloudIn &	cloud,
		size_t	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		const `[inline, inherited]`

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:

[in]	cloud	the query point cloud
[in]	index	the index of the query point in cloud
[in]	parameter	the search parameter (either k or radius)
[out]	indices	the resultant vector of indices representing the k-nearest neighbors
[out]	distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Returns:: the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 234 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setCentroidToUse ( const Eigen::Vector3f & centroid ) [inline]

Set centroid_to_use_.

Parameters:

[in] centroid Centroid to be used in the VFH computation. It is used to compute the distances from all points to this centroid.

Definition at line 172 of file vfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setFillSizeComponent ( bool fill_size ) [inline]

set size_component_

Parameters:

[in] fill_size True if the 4th component of VFH (shape distribution component) needs to be filled. Otherwise, it is set to zero.

Definition at line 201 of file vfh.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::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!

Parameters:

[in] normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 335 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setKSearch ( int k ) [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:

[in] k the number of k-nearest neighbors

Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.

Definition at line 169 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool normalize ) [inline]

set normalize_bins_

Parameters:

[in] normalize If true, the VFH bins are normalized using the total number of points

Definition at line 181 of file vfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeDistance ( bool normalize ) [inline]

set normalize_distances_

Parameters:

[in] normalize If true, the 4th component of VFH (shape distribution component) get normalized by the maximum size between the centroid and the point cloud

Definition at line 191 of file vfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalToUse ( const Eigen::Vector3f & normal ) [inline]

Set the normal to use.

Parameters:

[in] normal Sets the normal to be used in the VFH computation. It is is used to build the Darboux Coordinate system.

Definition at line 153 of file vfh.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double radius ) [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters:

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 180 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide a pointer to the search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 155 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, inherited]

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters:

[in] cloud a pointer to a PointCloud message

Definition at line 140 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenCentroid ( bool use ) [inline]

Set use_given_centroid_.

Parameters:

[in] use Set to true if you want to use the centroid passed through setCentroidToUse(centroid)

Definition at line 162 of file vfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenNormal ( bool use ) [inline]

Set use_given_normal_.

Parameters:

[in] use Set to true if you want to use the normal passed to setNormalUse(normal)

Definition at line 143 of file vfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)		`[inline]`

Set the viewpoint.

Parameters:

[in]	vpx	the X coordinate of the viewpoint
[in]	vpy	the Y coordinate of the viewpoint
[in]	vpz	the Z coordinate of the viewpoint

Definition at line 123 of file vfh.h.

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

/builddir/build/BUILD/PCL-1.5.1-Source/features/include/pcl/features/vfh.h
/builddir/build/BUILD/PCL-1.5.1-Source/features/include/pcl/features/impl/vfh.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308> class pcl::VFHEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::VFHEstimation< PointInT, PointNT, PointOutT >