Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::Feature< PointInT, PointOutT > Class Template Referenceabstract

Feature represents the base feature class. More...

#include <pcl/features/feature.h>

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

Public Types

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
 

Public Member Functions

 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

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...
 

Protected Attributes

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>
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.

Attention
The convention for a feature descriptor is:
  • if the nearest neighbors for the query point at which the descriptor is to be computed cannot be determined, the descriptor values will be set to NaN (not a number)
  • it is impossible to estimate a feature descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that has NaN data on x, y, or z, will most likely have its descriptor set to NaN.
Author
Radu B. Rusu

Definition at line 105 of file feature.h.

Member Typedef Documentation

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

Definition at line 111 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr

Definition at line 114 of file feature.h.

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

Definition at line 116 of file feature.h.

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

Definition at line 117 of file feature.h.

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

Definition at line 119 of file feature.h.

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

Definition at line 121 of file feature.h.

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

Definition at line 120 of file feature.h.

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

Definition at line 123 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr

Definition at line 113 of file feature.h.

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

Definition at line 125 of file feature.h.

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

Definition at line 126 of file feature.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 130 of file feature.h.

template<typename PointInT, typename PointOutT>
virtual pcl::Feature< PointInT, PointOutT >::~Feature ( )
inlinevirtual

Empty destructor.

Definition at line 138 of file feature.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::Feature< PointInT, PointOutT >::compute ( PointCloudOut output)
template<typename PointInT , typename PointOutT >
bool pcl::Feature< PointInT, PointOutT >::deinitCompute ( )
protectedvirtual

This method should get called after ending the actual computation.

Definition at line 176 of file feature.hpp.

Referenced by pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::initCompute().

template<typename PointInT, typename PointOutT>
const std::string& pcl::Feature< PointInT, PointOutT >::getClassName ( ) const
inlineprotected

Get a string representation of the name of this class.

Definition at line 246 of file feature.h.

Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setKSearch().

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

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

Definition at line 190 of file feature.h.

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

Get the sphere radius used for determining the neighbors.

Definition at line 207 of file feature.h.

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

Get a pointer to the search method used.

Definition at line 170 of file feature.h.

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

Get the internal search parameter.

Definition at line 177 of file feature.h.

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

Get a pointer to the surface point cloud dataset.

Definition at line 157 of file feature.h.

template<typename PointInT , typename PointOutT >
bool pcl::Feature< PointInT, PointOutT >::initCompute ( )
protectedvirtual
template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors ( size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const
inlineprotected

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

Parameters
[in]indexthe index of the query point
[in]parameterthe search parameter (either k or radius)
[out]indicesthe resultant vector of indices representing the k-nearest neighbors
[out]distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors
Returns
the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 270 of file feature.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors ( const PointCloudIn cloud,
size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const
inlineprotected

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

Parameters
[in]cloudthe query point cloud
[in]indexthe index of the query point in cloud
[in]parameterthe search parameter (either k or radius)
[out]indicesthe resultant vector of indices representing the k-nearest neighbors
[out]distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors
Returns
the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 288 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
[in]kthe number of k-nearest neighbors

Definition at line 186 of file feature.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), and pcl::gpu::DataSource::estimateNormals().

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double  radius)
inline
template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr tree)
inline

Provide a pointer to the search object.

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

Definition at line 166 of file feature.h.

Referenced by pcl::UnaryClassifier< PointT >::computeFPFH(), and pcl::gpu::DataSource::estimateNormals().

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
[in]clouda pointer to a PointCloud message

Definition at line 148 of file feature.h.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().

Member Data Documentation

template<typename PointInT, typename PointOutT>
bool pcl::Feature< PointInT, PointOutT >::fake_surface_
protected

If no surface is given, we use the input PointCloud as the surface.

Definition at line 257 of file feature.h.

Referenced by pcl::Feature< PointWithRange, Narf36 >::setSearchSurface().

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

The feature name.

Definition at line 222 of file feature.h.

Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation(), pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::BoundaryEstimation(), pcl::CPPFEstimation< PointInT, PointNT, PointOutT >::CPPFEstimation(), pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation(), pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >::DifferenceOfNormalsEstimation(), pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation(), pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::FPFHEstimation(), pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP(), pcl::Feature< PointWithRange, Narf36 >::getClassName(), pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::GFPFHEstimation(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::GRSDEstimation(), pcl::IntegralImageNormalEstimation< pcl::PointXYZRGBA, pcl::pcl::Normal >::IntegralImageNormalEstimation(), pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::IntensityGradientEstimation(), pcl::IntensitySpinEstimation< PointInT, PointOutT >::IntensitySpinEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), pcl::MomentInvariantsEstimation< PointInT, PointOutT >::MomentInvariantsEstimation(), pcl::NormalEstimation< PointInT, PointOutT >::NormalEstimation(), pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::PFHEstimation< PointInT, PointNT, PointOutT >::PFHEstimation(), pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PFHRGBEstimation(), pcl::PPFEstimation< PointInT, PointNT, PointOutT >::PPFEstimation(), pcl::PPFRGBEstimation< PointInT, PointNT, PointOutT >::PPFRGBEstimation(), pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >::PPFRGBRegionEstimation(), pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::PrincipalCurvaturesEstimation(), pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation(), pcl::RSDEstimation< PointInT, PointNT, PointOutT >::RSDEstimation(), pcl::IntegralImageNormalEstimation< pcl::PointXYZRGBA, pcl::pcl::Normal >::setNormalSmoothingSize(), pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTColorEstimation(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimation(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase(), pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimation(), pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimationOMP(), pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::SpinImageEstimation(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext(), and pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation().

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::k_
protected
template<typename PointInT, typename PointOutT>
SearchMethodSurface pcl::Feature< PointInT, PointOutT >::search_method_surface_
protected

The search method template for points.

Definition at line 225 of file feature.h.

Referenced by pcl::Feature< PointWithRange, Narf36 >::searchForNeighbors().

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 236 of file feature.h.

Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchParameter().

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::search_radius_
protected
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 230 of file feature.h.

Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchSurface(), and pcl::Feature< PointWithRange, Narf36 >::setSearchSurface().

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

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