Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::ESFEstimation< PointInT, PointOutT > Class Template Reference

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points. More...

#include <pcl/features/esf.h>

+ Inheritance diagram for pcl::ESFEstimation< PointInT, PointOutT >:

Public Types

typedef boost::shared_ptr< ESFEstimation< PointInT, PointOutT > > Ptr
 
typedef boost::shared_ptr< const ESFEstimation< PointInT, PointOutT > > ConstPtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
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
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 ESFEstimation ()
 Empty constructor. More...
 
void compute (PointCloudOut &output)
 Overloaded computed method from pcl::Feature. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 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...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 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...
 

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),. More...
 
int lci (const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
 ... More...
 
void computeESF (PointCloudIn &pc, std::vector< float > &hist)
 ... More...
 
void voxelize9 (PointCloudIn &cluster)
 ... More...
 
void cleanup9 (PointCloudIn &cluster)
 ... More...
 
void scale_points_unit_sphere (const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)
 ... More...
 
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool initCompute ()
 This method should get called before starting the actual computation. 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...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
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

- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
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...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
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...
 

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points.

Shape functions are D2, D3, A3. For more information about the ESF descriptor, see: Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011

Author
Walter Wohlkinger

Definition at line 59 of file esf.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef boost::shared_ptr<const ESFEstimation<PointInT, PointOutT> > pcl::ESFEstimation< PointInT, PointOutT >::ConstPtr

Definition at line 63 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef pcl::PointCloud<PointInT> pcl::ESFEstimation< PointInT, PointOutT >::PointCloudIn

Definition at line 73 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::ESFEstimation< PointInT, PointOutT >::PointCloudOut

Definition at line 74 of file esf.h.

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
typedef boost::shared_ptr<ESFEstimation<PointInT, PointOutT> > pcl::ESFEstimation< PointInT, PointOutT >::Ptr

Definition at line 62 of file esf.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation ( )
inline

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::cleanup9 ( PointCloudIn cluster)
protected
template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::compute ( PointCloudOut output)

Overloaded computed method from pcl::Feature.

Parameters
[out]outputthe resultant point cloud model dataset containing the estimated features

Definition at line 508 of file esf.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation().

template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::computeESF ( PointCloudIn pc,
std::vector< float > &  hist 
)
protected
template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut output)
protectedvirtual

Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.

Parameters
outputthe resultant point cloud model histogram that contains the ESF feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 536 of file esf.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation().

template<typename PointInT , typename PointOutT >
int pcl::ESFEstimation< PointInT, PointOutT >::lci ( const int  x1,
const int  y1,
const int  z1,
const int  x2,
const int  y2,
const int  z2,
float &  ratio,
int &  incnt,
int &  pointcount 
)
protected

...

Definition at line 306 of file esf.hpp.

Referenced by pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation().

template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::scale_points_unit_sphere ( const pcl::PointCloud< PointInT > &  pc,
float  scalefactor,
Eigen::Vector4f &  centroid 
)
protected
template<typename PointInT , typename PointOutT >
void pcl::ESFEstimation< PointInT, PointOutT >::voxelize9 ( PointCloudIn cluster)
protected

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