Public Types | Public Member Functions | Protected Member Functions

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

RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals. More...

#include <pcl/features/rsd.h>

Inheritance diagram for pcl::RSDEstimation< PointInT, PointNT, PointOutT >:
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List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn

Public Member Functions

 RSDEstimation ()
 Empty constructor.
void setNrSubdivisions (int nr_subdiv)
 Set the number of subdivisions for the considered distance interval.
int getNrSubdivisions ()
 Get the number of subdivisions for the considered distance interval.
void setPlaneRadius (double plane_radius)
 Set the maximum radius, above which everything can be considered planar.
double getPlaneRadius ()
 Get the maximum radius, above which everything can be considered planar.
void setKSearch (int)
 Disables the setting of the number of k nearest neighbors to use for the feature estimation.

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::RSDEstimation< PointInT, PointNT, PointOutT >

RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals.

Note:
If you use this code in any academic work, please cite:
Note:
The code is stateful as we do not expect this class to be multicore parallelized.
Author:
Zoltan-Csaba Marton

Definition at line 78 of file rsd.h.


Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

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

Definition at line 90 of file rsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

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

Definition at line 89 of file rsd.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 93 of file rsd.h.


Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output  )  [protected, virtual]

Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters:
output the resultant point cloud model dataset that contains the RSD feature estimates (r_min and r_max values)

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 115 of file rsd.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
int pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions (  )  [inline]

Get the number of subdivisions for the considered distance interval.

Definition at line 106 of file rsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >
double pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getPlaneRadius (  )  [inline]

Get the maximum radius, above which everything can be considered planar.

Definition at line 118 of file rsd.h.

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

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

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

Definition at line 122 of file rsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions ( int  nr_subdiv  )  [inline]

Set the number of subdivisions for the considered distance interval.

Parameters:
nr_subdiv the number of subdivisions

Definition at line 102 of file rsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setPlaneRadius ( double  plane_radius  )  [inline]

Set the maximum radius, above which everything can be considered planar.

Note:
the order of magnitude should be around 10-20 times the search radius (0.2 works well for typical datasets).
on accurate 3D data (e.g. openni sernsors) a search radius as low as 0.01 still gives good results.
Parameters:
plane_radius the new plane radius

Definition at line 114 of file rsd.h.


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