Classes | Public Types | Public Member Functions | Static Public Member Functions

pcl::RangeImageBorderExtractor Class Reference
[Module features]

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background. More...

#include <pcl/features/range_image_border_extractor.h>

Inheritance diagram for pcl::RangeImageBorderExtractor:
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List of all members.

Classes

struct  LocalSurface
 Stores some information extracted from the neighborhood of a point. More...
struct  Parameters
 Parameters used in this class. More...
struct  ShadowBorderIndices
 Stores the indices of the shadow border corresponding to obstacle borders. More...

Public Types

typedef Feature
< PointWithRange,
BorderDescription
BaseClass
typedef boost::shared_ptr
< Feature< PointWithRange,
BorderDescription > > 
Ptr
typedef boost::shared_ptr
< const Feature
< PointWithRange,
BorderDescription > > 
ConstPtr
typedef pcl::search::Search
< PointWithRange
KdTree
typedef pcl::search::Search
< PointWithRange >::Ptr 
KdTreePtr
typedef pcl::PointCloud
< PointWithRange
PointCloudIn
typedef PointCloudIn::Ptr PointCloudInPtr
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
typedef pcl::PointCloud
< BorderDescription
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
typedef pcl::PointCloud
< PointWithRange
PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointIndices::Ptr PointIndicesPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr

Public Member Functions

 RangeImageBorderExtractor (const RangeImage *range_image=NULL)
 Constructor.
 ~RangeImageBorderExtractor ()
 Destructor.
void setRangeImage (const RangeImage *range_image)
 Provide a pointer to the range image.
void clearData ()
 Erase all data calculated for the current range image.
float * getAnglesImageForBorderDirections ()
 Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.
float * getAnglesImageForSurfaceChangeDirections ()
 Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.
void compute (PointCloudOut &output)
 Overwrite the compute function of the base class.
ParametersgetParameters ()
bool hasRangeImage () const
const RangeImagegetRangeImage () const
float * getBorderScoresLeft ()
float * getBorderScoresRight ()
float * getBorderScoresTop ()
float * getBorderScoresBottom ()
LocalSurface ** getSurfaceStructure ()
PointCloudOutgetBorderDescriptions ()
ShadowBorderIndices ** getShadowBorderInformations ()
Eigen::Vector3f ** getBorderDirections ()
float * getSurfaceChangeScores ()
Eigen::Vector3f * getSurfaceChangeDirections ()
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.
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 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 PointWithRangeoperator[] (size_t pos)
 Override PointCloud operator[] to shorten code.

Static Public Member Functions

static float getObstacleBorderAngle (const BorderTraits &border_traits)
 Take the information from BorderTraits to calculate the local direction of the border.

Detailed Description

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background.

Author:
Bastian Steder

Definition at line 53 of file range_image_border_extractor.h.


Member Typedef Documentation

typedef boost::shared_ptr< const Feature<PointWithRange , BorderDescription > > pcl::Feature< PointWithRange , BorderDescription >::ConstPtr [inherited]

Definition at line 106 of file feature.h.

Definition at line 108 of file feature.h.

Definition at line 109 of file feature.h.

Definition at line 74 of file pcl_base.h.

Definition at line 76 of file pcl_base.h.

Definition at line 111 of file feature.h.

Definition at line 113 of file feature.h.

Definition at line 112 of file feature.h.

Definition at line 115 of file feature.h.

Definition at line 75 of file pcl_base.h.

Definition at line 79 of file pcl_base.h.

Definition at line 78 of file pcl_base.h.

typedef boost::shared_ptr< Feature<PointWithRange , BorderDescription > > pcl::Feature< PointWithRange , BorderDescription >::Ptr [inherited]

Definition at line 105 of file feature.h.

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

Definition at line 117 of file feature.h.

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

Definition at line 118 of file feature.h.


Constructor & Destructor Documentation

pcl::RangeImageBorderExtractor::RangeImageBorderExtractor ( const RangeImage range_image = NULL  ) 

Constructor.

pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor (  ) 

Destructor.


Member Function Documentation

void pcl::RangeImageBorderExtractor::clearData (  ) 

Erase all data calculated for the current range image.

void pcl::RangeImageBorderExtractor::compute ( PointCloudOut output  ) 

Overwrite the compute function of the base class.

Reimplemented from pcl::Feature< PointWithRange, BorderDescription >.

float* pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections (  ) 

Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.

float* pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections (  ) 

Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.

PointCloudOut& pcl::RangeImageBorderExtractor::getBorderDescriptions (  )  [inline]

Definition at line 157 of file range_image_border_extractor.h.

Eigen::Vector3f** pcl::RangeImageBorderExtractor::getBorderDirections (  )  [inline]

Definition at line 163 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresBottom (  )  [inline]

Definition at line 151 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresLeft (  )  [inline]

Definition at line 142 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresRight (  )  [inline]

Definition at line 145 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresTop (  )  [inline]

Definition at line 148 of file range_image_border_extractor.h.

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

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

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

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

int pcl::Feature< PointWithRange , BorderDescription >::getKSearch (  )  [inline, inherited]

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

Definition at line 166 of file feature.h.

float pcl::RangeImageBorderExtractor::getObstacleBorderAngle ( const BorderTraits border_traits  )  [inline, static]

Take the information from BorderTraits to calculate the local direction of the border.

Parameters:
border_traits contains the information needed to calculate the border angle

Definition at line 42 of file range_image_border_extractor.hpp.

Parameters& pcl::RangeImageBorderExtractor::getParameters (  )  [inline]

Definition at line 133 of file range_image_border_extractor.h.

double pcl::Feature< PointWithRange , BorderDescription >::getRadiusSearch (  )  [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 177 of file feature.h.

const RangeImage& pcl::RangeImageBorderExtractor::getRangeImage (  )  const [inline]

Definition at line 139 of file range_image_border_extractor.h.

KdTreePtr pcl::Feature< PointWithRange , BorderDescription >::getSearchMethod (  )  [inline, inherited]

Get a pointer to the search method used.

Definition at line 152 of file feature.h.

double pcl::Feature< PointWithRange , BorderDescription >::getSearchParameter (  )  [inline, inherited]

Get the internal search parameter.

Definition at line 156 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointWithRange , BorderDescription >::getSearchSurface (  )  [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 142 of file feature.h.

ShadowBorderIndices** pcl::RangeImageBorderExtractor::getShadowBorderInformations (  )  [inline]

Definition at line 160 of file range_image_border_extractor.h.

Eigen::Vector3f* pcl::RangeImageBorderExtractor::getSurfaceChangeDirections (  )  [inline]

Definition at line 169 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores (  )  [inline]

Definition at line 166 of file range_image_border_extractor.h.

LocalSurface** pcl::RangeImageBorderExtractor::getSurfaceStructure (  )  [inline]

Definition at line 154 of file range_image_border_extractor.h.

bool pcl::RangeImageBorderExtractor::hasRangeImage (  )  const [inline]

Definition at line 136 of file range_image_border_extractor.h.

const PointWithRange & pcl::PCLBase< PointWithRange >::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 178 of file pcl_base.h.

int pcl::Feature< PointWithRange , BorderDescription >::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:
cloud the query point cloud
index the index of the query point in cloud
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 215 of file feature.h.

int pcl::Feature< PointWithRange , BorderDescription >::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:
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 196 of file feature.h.

void pcl::PCLBase< PointWithRange >::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 132 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::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 105 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::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 116 of file pcl_base.h.

virtual void pcl::PCLBase< PointWithRange >::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 95 of file pcl_base.h.

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

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

Parameters:
k the number of k-nearest neighbors

Definition at line 162 of file feature.h.

void pcl::Feature< PointWithRange , BorderDescription >::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:
radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 173 of file feature.h.

void pcl::RangeImageBorderExtractor::setRangeImage ( const RangeImage range_image  ) 

Provide a pointer to the range image.

Parameters:
range_image a pointer to the range_image
void pcl::Feature< PointWithRange , BorderDescription >::setSearchMethod ( const KdTreePtr tree  )  [inline, inherited]

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 148 of file feature.h.

void pcl::Feature< PointWithRange , BorderDescription >::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:
cloud a pointer to a PointCloud message

Definition at line 133 of file feature.h.


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