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

GASDEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ data. More...

#include <pcl/features/gasd.h>

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

Public Types

typedef boost::shared_ptr
< GASDEstimation< PointInT,
PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const GASDEstimation
< PointInT, 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
 

Public Member Functions

 GASDEstimation (const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const size_t shape_half_grid_size=4, const size_t shape_hists_size=1, const HistogramInterpolationMethod shape_interp=INTERP_TRILINEAR)
 Constructor. More...
 
void setViewDirection (const Eigen::Vector3f &dir)
 Set the view direction. More...
 
void setShapeHalfGridSize (const size_t shgs)
 Set the shape half grid size. More...
 
void setShapeHistsSize (const size_t shs)
 Set the shape histograms size. More...
 
void setShapeHistsInterpMethod (const HistogramInterpolationMethod interp)
 Set the shape histograms interpolation method. More...
 
const Eigen::Matrix4f & getTransform () const
 Returns the transformation aligning the point cloud to the canonical coordinate system. 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 addSampleToHistograms (const Eigen::Vector4f &p, const float max_coord, const size_t half_grid_size, const HistogramInterpolationMethod interp, const float hbin, const float hist_incr, std::vector< Eigen::VectorXf > &hists)
 add a sample to its respective histogram, optionally performing interpolation. More...
 
void computeFeature (PointCloudOut &output)
 Estimate GASD descriptor. 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...
 

Protected Attributes

PointCloudIn shape_samples_
 Point cloud aligned to the canonical coordinate system. More...
 
float max_coord_
 Normalization factor with respect to axis-aligned bounding cube centered on the origin. More...
 
float hist_incr_
 Normalized sample contribution with respect to the total number of points in the cloud. More...
 
size_t pos_
 Current position of output descriptor point cloud. 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 PointOutT = GASDSignature512>
class pcl::GASDEstimation< PointInT, PointOutT >

GASDEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ data.

The suggested PointOutT is pcl::GASDSignature512.

Note
If you use this code in any academic work, please cite:
Author
Joao Paulo Lima

Voxar Labs, Centro de Informatica, Universidade Federal de Pernambuco, Brazil

Departamento de Estatistica e Informatica, Universidade Federal Rural de Pernambuco, Brazil

Definition at line 77 of file gasd.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT = GASDSignature512>
typedef boost::shared_ptr<const GASDEstimation<PointInT, PointOutT> > pcl::GASDEstimation< PointInT, PointOutT >::ConstPtr

Definition at line 83 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
typedef boost::shared_ptr<GASDEstimation<PointInT, PointOutT> > pcl::GASDEstimation< PointInT, PointOutT >::Ptr

Definition at line 82 of file gasd.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT = GASDSignature512>
pcl::GASDEstimation< PointInT, PointOutT >::GASDEstimation ( const Eigen::Vector3f &  view_direction = Eigen::Vector3f (0.0f, 0.0f, 1.0f),
const size_t  shape_half_grid_size = 4,
const size_t  shape_hists_size = 1,
const HistogramInterpolationMethod  shape_interp = INTERP_TRILINEAR 
)
inline

Constructor.

Parameters
[in]view_directionview direction
[in]shape_half_grid_sizeshape half grid size
[in]shape_hists_sizeshape histograms size
[in]shape_interpshape histograms interpolation method

Definition at line 91 of file gasd.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::search_radius_.

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::GASDEstimation< PointInT, PointOutT >::addSampleToHistograms ( const Eigen::Vector4f &  p,
const float  max_coord,
const size_t  half_grid_size,
const HistogramInterpolationMethod  interp,
const float  hbin,
const float  hist_incr,
std::vector< Eigen::VectorXf > &  hists 
)
protected

add a sample to its respective histogram, optionally performing interpolation.

Parameters
[in]phistogram sample
[in]max_coordnormalization factor with respect to axis-aligned bounding cube centered on the origin
[in]half_grid_sizehalf size of the regular grid used to compute the descriptor
[in]interpinterpolation method to be used while computing the descriptor
[in]hbinhistogram bin
[in]hist_incrnormalization factor of sample contribution
[in,out]histsupdated histograms

Definition at line 117 of file gasd.hpp.

References pcl::INTERP_NONE, and pcl::INTERP_TRILINEAR.

template<typename PointInT , typename PointOutT >
void pcl::GASDEstimation< PointInT, PointOutT >::compute ( PointCloudOut output)

Overloaded computed method from pcl::Feature.

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

Definition at line 50 of file gasd.hpp.

References pcl::PointCloud< T >::header, pcl::PointCloud< T >::height, pcl::PointCloud< T >::is_dense, pcl::PointCloud< T >::points, pcl::PointCloud< T >::resize(), and pcl::PointCloud< T >::width.

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

Estimate GASD descriptor.

Parameters
[out]outputthe resultant point cloud model dataset containing the GASD feature

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 252 of file gasd.hpp.

References pcl::getMaxDistance(), pcl::getMinMax3D(), pcl::PointCloud< T >::points, and pcl::transformPointCloud().

template<typename PointInT , typename PointOutT = GASDSignature512>
const Eigen::Matrix4f& pcl::GASDEstimation< PointInT, PointOutT >::getTransform ( ) const
inline

Returns the transformation aligning the point cloud to the canonical coordinate system.

Parameters
[out]transtransformation

Definition at line 147 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
void pcl::GASDEstimation< PointInT, PointOutT >::setShapeHalfGridSize ( const size_t  shgs)
inline

Set the shape half grid size.

Parameters
[in]shgsshape half grid size

Definition at line 118 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
void pcl::GASDEstimation< PointInT, PointOutT >::setShapeHistsInterpMethod ( const HistogramInterpolationMethod  interp)
inline

Set the shape histograms interpolation method.

Parameters
[in]interpshape histograms interpolation method

Definition at line 138 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
void pcl::GASDEstimation< PointInT, PointOutT >::setShapeHistsSize ( const size_t  shs)
inline

Set the shape histograms size.

If size is 1, then each histogram bin will store the number of points that belong to its correspondent cell in the 3D regular grid. If size > 1, then for each cell it will be computed a histogram of normalized distances between each sample and the cloud centroid

Parameters
[in]shsshape histograms size

Definition at line 129 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
void pcl::GASDEstimation< PointInT, PointOutT >::setViewDirection ( const Eigen::Vector3f &  dir)
inline

Set the view direction.

Parameters
[in]dirview direction

Definition at line 109 of file gasd.h.

Member Data Documentation

template<typename PointInT , typename PointOutT = GASDSignature512>
float pcl::GASDEstimation< PointInT, PointOutT >::hist_incr_
protected

Normalized sample contribution with respect to the total number of points in the cloud.

Definition at line 173 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
float pcl::GASDEstimation< PointInT, PointOutT >::max_coord_
protected

Normalization factor with respect to axis-aligned bounding cube centered on the origin.

Definition at line 170 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
size_t pcl::GASDEstimation< PointInT, PointOutT >::pos_
protected

Current position of output descriptor point cloud.

Definition at line 176 of file gasd.h.

template<typename PointInT , typename PointOutT = GASDSignature512>
PointCloudIn pcl::GASDEstimation< PointInT, PointOutT >::shape_samples_
protected

Point cloud aligned to the canonical coordinate system.

Definition at line 167 of file gasd.h.


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