Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

pcl::Feature< PointInT, PointOutT > Class Template Reference
[Module features]

Feature represents the base feature class. More...

#include <pcl/features/feature.h>

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List of all members.

Public Types

typedef PCLBase< PointInT > BaseClass
typedef pcl::KdTree< PointInT > KdTree
typedef pcl::KdTree< 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(int,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
typedef boost::function< int(const
PointCloudIn &cloud, int index,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethodSurface

Public Member Functions

 Feature ()
 Empty constructor.
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 ().
int searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances)
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Protected Member Functions

const std::string & getClassName () const
 Get a string representation of the name of this class.

Protected Attributes

std::string feature_name_
 The feature name.
SearchMethod search_method_
 The search method template for indices.
SearchMethodSurface search_method_surface_
 The search method template for points.
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation.
KdTreePtr tree_
 A pointer to the spatial search object.
double search_parameter_
 The actual search parameter (from either search_radius_ or k_).
double search_radius_
 The nearest neighbors search radius for each point.
int k_
 The number of K nearest neighbors to use for each point.

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::Feature< PointInT, PointOutT >

Feature represents the base feature class.

Some generic 3D operations that are applicable to all features are defined here as static methods.

Author:
Radu Bogdan Rusu

Definition at line 98 of file feature.h.


Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass

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

Definition at line 107 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::KdTree<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree

Definition at line 109 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::KdTree<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr

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

Definition at line 110 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::PointCloud<PointInT> pcl::Feature< PointInT, PointOutT >::PointCloudIn
template<typename PointInT, typename PointOutT>
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr

Definition at line 114 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr

Definition at line 113 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::PointCloud<PointOutT> pcl::Feature< PointInT, PointOutT >::PointCloudOut
template<typename PointInT, typename PointOutT>
typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod

Definition at line 118 of file feature.h.

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

Definition at line 119 of file feature.h.


Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>
pcl::Feature< PointInT, PointOutT >::Feature (  )  [inline]

Empty constructor.

Definition at line 123 of file feature.h.


Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::Feature< PointInT, PointOutT >::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 ().

Parameters:
output the resultant point cloud model dataset containing the estimated features

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

Definition at line 138 of file feature.hpp.

template<typename PointInT, typename PointOutT>
const std::string& pcl::Feature< PointInT, PointOutT >::getClassName (  )  const [inline, protected]

Get a string representation of the name of this class.

Definition at line 235 of file feature.h.

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

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

Definition at line 167 of file feature.h.

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

Get the sphere radius used for determining the neighbors.

Definition at line 178 of file feature.h.

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

Get a pointer to the search method used.

Definition at line 153 of file feature.h.

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

Get the internal search parameter.

Definition at line 157 of file feature.h.

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

Get a pointer to the surface point cloud dataset.

Definition at line 143 of file feature.h.

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

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

Parameters:
index the index of the query point
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 197 of file feature.h.

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

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

Parameters:
k the number of k-nearest neighbors

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

Definition at line 163 of file feature.h.

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

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

Parameters:
radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 174 of file feature.h.

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

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 149 of file feature.h.

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

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:
cloud a pointer to a PointCloud message

Definition at line 134 of file feature.h.


Member Data Documentation

template<typename PointInT, typename PointOutT>
std::string pcl::Feature< PointInT, PointOutT >::feature_name_ [protected]

The feature name.

Definition at line 208 of file feature.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::k_ [protected]

The number of K nearest neighbors to use for each point.

Definition at line 231 of file feature.h.

template<typename PointInT, typename PointOutT>
SearchMethod pcl::Feature< PointInT, PointOutT >::search_method_ [protected]

The search method template for indices.

Definition at line 211 of file feature.h.

template<typename PointInT, typename PointOutT>
SearchMethodSurface pcl::Feature< PointInT, PointOutT >::search_method_surface_ [protected]

The search method template for points.

Definition at line 214 of file feature.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::search_parameter_ [protected]

The actual search parameter (from either search_radius_ or k_).

Definition at line 225 of file feature.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::search_radius_ [protected]

The nearest neighbors search radius for each point.

Definition at line 228 of file feature.h.

template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::surface_ [protected]

An input point cloud describing the surface that is to be used for nearest neighbors estimation.

Definition at line 219 of file feature.h.

template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Feature< PointInT, PointOutT >::tree_ [protected]

A pointer to the spatial search object.

Definition at line 222 of file feature.h.


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