Point Cloud Library (PCL)
1.9.1
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GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset containing points and normals. More...
#include <pcl/features/grsd.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Feature< PointInT, PointOutT >::PointCloudInPtr | PointCloudInPtr |
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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 |
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typedef PCLBase< PointInT > | BaseClass |
typedef boost::shared_ptr< Feature< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const Feature< PointInT, PointOutT > > | ConstPtr |
typedef pcl::search::Search< PointInT > | KdTree |
typedef pcl::search::Search< PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud< PointOutT > | PointCloudOut |
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 |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
GRSDEstimation () | |
Constructor. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
double | getRadiusSearch () const |
Get the sphere radius used for determining the neighbors. More... | |
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FeatureFromNormals () | |
Empty constructor. More... | |
virtual | ~FeatureFromNormals () |
Empty destructor. More... | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
PointCloudNConstPtr | getInputNormals () const |
Get a pointer to the normals of the input XYZ point cloud dataset. More... | |
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Feature () | |
Empty constructor. More... | |
virtual | ~Feature () |
Empty destructor. More... | |
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. More... | |
PointCloudInConstPtr | getSearchSurface () const |
Get a pointer to the surface point cloud dataset. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
KdTreePtr | getSearchMethod () const |
Get a pointer to the search method used. More... | |
double | getSearchParameter () const |
Get the internal search parameter. More... | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... | |
int | getKSearch () const |
get the number of k nearest neighbors used for the feature estimation. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
double | getRadiusSearch () const |
Get the sphere radius used for determining the neighbors. More... | |
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 () More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual 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. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Static Public Member Functions | |
static int | getSimpleType (float min_radius, float max_radius, double min_radius_plane=0.100, double max_radius_noise=0.015, double min_radius_cylinder=0.175, double max_min_radius_diff=0.050) |
Get the type of the local surface based on the min and max radius computed. More... | |
Protected Member Functions | |
void | computeFeature (PointCloudOut &output) |
Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... | |
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virtual bool | initCompute () |
This method should get called before starting the actual computation. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | deinitCompute () |
This method should get called after ending the actual computation. More... | |
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. More... | |
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. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Additional Inherited Members | |
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PointCloudNConstPtr | normals_ |
A pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
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std::string | feature_name_ |
The feature name. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
bool | fake_surface_ |
If no surface is given, we use the input PointCloud as the surface. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset containing points and normals.
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::PointCloudIn |
typedef Feature<PointInT, PointOutT>::PointCloudInPtr pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::PointCloudInPtr |
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
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inline |
Constructor.
Definition at line 92 of file grsd.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::getAllNeighborCellIndices().
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protectedvirtual |
Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
output | the resultant point cloud that contains the GRSD feature |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 65 of file grsd.hpp.
References pcl::Feature< PointInT, PointOutT >::compute(), pcl::Filter< PointT >::filter(), pcl::VoxelGrid< PointT >::getNeighborCentroidIndices(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::PCLBase< PointT >::setInputCloud(), pcl::PCLBase< PointInT >::setInputCloud(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals(), pcl::VoxelGrid< PointT >::setLeafSize(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), pcl::VoxelGrid< PointT >::setSaveLeafLayout(), pcl::Feature< PointInT, PointOutT >::setSearchSurface(), and pcl::PointCloud< PointT >::width.
Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getRadiusSearch().
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inline |
Get the sphere radius used for determining the neighbors.
Definition at line 109 of file grsd.h.
References pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getSimpleType(), and pcl::Feature< PointInT, PointOutT >::search_radius_.
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inlinestatic |
Get the type of the local surface based on the min and max radius computed.
Definition at line 45 of file grsd.hpp.
Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getRadiusSearch().
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inline |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
Same value will be used for the internal voxel grid leaf size.
[in] | radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 103 of file grsd.h.
References pcl::Feature< PointInT, PointOutT >::search_radius_.