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pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT > Class Template Reference

FLARELocalReferenceFrameEstimation implements the Fast LocAl Reference framE algorithm for local reference frame estimation as described here: More...

#include <pcl/features/flare.h>

+ Inheritance diagram for pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >:

Public Member Functions

 FLARELocalReferenceFrameEstimation ()
 Constructor. More...
 
void setTangentRadius (float radius)
 Set the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point. More...
 
float getTangentRadius () const
 Get the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point. More...
 
void setMarginThresh (float margin_thresh)
 Set the percentage of the search tangent radius after which a point is considered part of the support. More...
 
float getMarginThresh () const
 Get the percentage of the search tangent radius after which a point is considered part of the support. More...
 
void setMinNeighboursForNormalAxis (int min_neighbors_for_normal_axis)
 Set min number of neighbours required for the computation of Z axis. More...
 
int getMinNeighboursForNormalAxis () const
 Get min number of neighbours required for the computation of Z axis. More...
 
void setMinNeighboursForTangentAxis (int min_neighbors_for_tangent_axis)
 Set min number of neighbours required for the computation of X axis. More...
 
int getMinNeighboursForTangentAxis () const
 Get min number of neighbours required for the computation of X axis. More...
 
void setSearchSampledSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to the dataset used for the estimation of X axis. More...
 
const PointCloudInConstPtr & getSearchSampledSurface () const
 Get a pointer to the sampled_surface_ cloud dataset. More...
 
void setSearchMethodForSampledSurface (const KdTreePtr &tree)
 Provide a pointer to the search object linked to sampled_surface. More...
 
const KdTreePtrgetSearchMethodForSampledSurface () const
 Get a pointer to the search method used for the extimation of x axis. More...
 
const std::vector
< SignedDistanceT > & 
getSignedDistancesFromHighestPoints () const
 Get the signed distances of the highest points from the fitted planes. More...
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
 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...
 
- 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 Types

typedef pcl::PointCloud
< SignedDistanceT > 
PointCloudSignedDistance
 
typedef
PointCloudSignedDistance::Ptr 
PointCloudSignedDistancePtr
 
typedef boost::shared_ptr
< FLARELocalReferenceFrameEstimation
< PointInT, PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const
FLARELocalReferenceFrameEstimation
< PointInT, PointNT, PointOutT > > 
ConstPtr
 

Protected Member Functions

virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
virtual bool deinitCompute ()
 This method should get called after the actual computation is ended. More...
 
SignedDistanceT computePointLRF (const int index, Eigen::Matrix3f &lrf)
 Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals. More...
 
virtual void computeFeature (PointCloudOut &output)
 Abstract feature estimation method. 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...
 
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

- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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
 
- 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
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 
- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- 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 PointNT, typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
class pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >

FLARELocalReferenceFrameEstimation implements the Fast LocAl Reference framE algorithm for local reference frame estimation as described here:

FLARE algorithm is deployed in ReLOC algorithm proposed in:

Petrelli A., Di Stefano L., "Pairwise registration by local orientation cues", Computer Graphics Forum, 2015.

Author
Alioscia Petrelli

Definition at line 65 of file flare.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
typedef boost::shared_ptr<const FLARELocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::ConstPtr
protected

Definition at line 89 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
typedef pcl::PointCloud<SignedDistanceT> pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::PointCloudSignedDistance
protected

Definition at line 85 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
typedef PointCloudSignedDistance::Ptr pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::PointCloudSignedDistancePtr
protected

Definition at line 86 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
typedef boost::shared_ptr<FLARELocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::Ptr
protected

Definition at line 88 of file flare.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::FLARELocalReferenceFrameEstimation ( )
inline

Constructor.

Definition at line 93 of file flare.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::computeFeature ( PointCloudOut output)
protectedvirtual

Abstract feature estimation method.

Parameters
[out]outputthe resultant features

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 231 of file flare.hpp.

References pcl::PointCloud< T >::is_dense.

template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
SignedDistanceT pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::computePointLRF ( const int  index,
Eigen::Matrix3f &  lrf 
)
protected

Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Parameters
[in]indexthe index of the point in input_
[out]lrfthe resultant local reference frame
Returns
signed distance of the highest point from the fitted plane. Max if the lrf is not computable.

Definition at line 110 of file flare.hpp.

References pcl::isFinite(), pcl::geometry::projectedAsUnitVector(), and pcl::geometry::randomOrthogonalAxis().

template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
bool pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::deinitCompute ( )
protectedvirtual

This method should get called after the actual computation is ended.

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

Definition at line 91 of file flare.hpp.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
float pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getMarginThresh ( ) const
inline

Get the percentage of the search tangent radius after which a point is considered part of the support.

Returns
The percentage of the search tangent radius after which a point is considered part of the support.

Definition at line 142 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
int pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getMinNeighboursForNormalAxis ( ) const
inline

Get min number of neighbours required for the computation of Z axis.

Returns
min number of neighbours required for the computation of Z axis.

Definition at line 163 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
int pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getMinNeighboursForTangentAxis ( ) const
inline

Get min number of neighbours required for the computation of X axis.

Returns
min number of neighbours required for the computation of X axis.

Definition at line 184 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
const KdTreePtr& pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getSearchMethodForSampledSurface ( ) const
inline

Get a pointer to the search method used for the extimation of x axis.

Definition at line 219 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
const PointCloudInConstPtr& pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getSearchSampledSurface ( ) const
inline

Get a pointer to the sampled_surface_ cloud dataset.

Definition at line 206 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
const std::vector<SignedDistanceT>& pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getSignedDistancesFromHighestPoints ( ) const
inline

Get the signed distances of the highest points from the fitted planes.

Definition at line 226 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
float pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getTangentRadius ( ) const
inline

Get the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point.

Returns
The search radius for x axis.

Definition at line 122 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
bool pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::initCompute ( )
protectedvirtual

This method should get called before starting the actual computation.

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

Definition at line 47 of file flare.hpp.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setMarginThresh ( float  margin_thresh)
inline

Set the percentage of the search tangent radius after which a point is considered part of the support.

Parameters
[in]margin_threshthe percentage of the search tangent radius after which a point is considered part of the support.

Definition at line 132 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setMinNeighboursForNormalAxis ( int  min_neighbors_for_normal_axis)
inline

Set min number of neighbours required for the computation of Z axis.

Parameters
[in]min_neighbors_for_normal_axismin number of neighbours required for the computation of Z axis.

Definition at line 153 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setMinNeighboursForTangentAxis ( int  min_neighbors_for_tangent_axis)
inline

Set min number of neighbours required for the computation of X axis.

Parameters
[in]min_neighbors_for_tangent_axismin number of neighbours required for the computation of X axis.

Definition at line 174 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setSearchMethodForSampledSurface ( const KdTreePtr tree)
inline

Provide a pointer to the search object linked to sampled_surface.

Parameters
[in]treea pointer to the spatial search object linked to sampled_surface.

Definition at line 215 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setSearchSampledSurface ( const PointCloudInConstPtr &  cloud)
inline

Provide a pointer to the dataset used for the estimation of X axis.

As the estimation of x axis is negligibly affected by surface downsampling, this method lets to consider a downsampled version of surface_ in the estimation of x axis. This is optional, if this is not set, it will only use the data in the surface_ cloud to estimate the x axis.

Parameters
[in]clouda pointer to a PointCloud

Definition at line 198 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setTangentRadius ( float  radius)
inline

Set the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point.

Parameters
[in]radiusThe search radius for x axis.

Definition at line 112 of file flare.h.


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